Automatic moving snow removal device

ABSTRACT

An automatic moving snow removal device including a moving module, driving a snow blower to move; a working module, including a working motor and a snow throwing mechanism driven by the working motor, the snow throwing mechanism is driven by the working motor to collect accumulated snow and inclusions on the ground and throw out of the snow throwing mechanism; and a control module, configured to control a rotary speed of the working motor to cause a speed when the inclusions depart from the snow throwing mechanism is not higher than 41 m/s.

BACKGROUND Technical Field

The present invention relates to the field of intelligent control, andin particular to an automatic moving snow removal device.

Lots of snow will be accumulated on a road surface after snowing inwinter and causes much trouble for outgoing of people. Several methodsfor removing the ice and snow on the road comprise artificial snowremoval, snow melting for snow removal and mechanical snow removal. Theartificial snow removal by artificial sweeping is larger in laborintensity, time consuming and labor consuming, and low in sweepingefficiency. The snow melting method by using heat energy or chemicalagent scattering is larger in energy consumption and high in cost, andeasily pollutes and corrodes the environment and the road surface, andis only suitable for some special occasions. While the currently usedmechanical snow removal devices are higher in cost, poorer in snowremoval effect and have certain damage action to the road surface due tothe huge size and complex structure, and the use is affected.

The current small mechanical snow blower mainly consists of a primemotor, a transmission device, a snow collecting device, a snow throwingdevice and an operation system. The prime motor may adopt anelectromotor or an engine, and mostly adopts a gasoline engine or dieselengine at present. The snow collecting device is configured to collectthe accumulated snow and mainly adopts a snow shovel or spiral auger.The snow throwing device throws the collected accumulated snow to oneside of the road or into a collecting device. The two main mannerscomprise a snow throwing impeller and a blower. The operation devicemainly controls the operation of the device, and realizes the advancingand driving directions of the machine by hand push. In this way, underthe manpower push, the ice and snow removal machines continuouslyadvance to consistently remove the accumulated ice and snow.

In order to reduce the labor intensity of an operator, there are someautomatic moving snow removal machines, that is, the snow removalmachines are driven by the prime motor to move, and the snow removalmachines continuously advance while the efficient snow removal isrealized by various mechanical transmission devices, thereby greatlysaving the manpower.

On such basis, it is very necessary to develop a snow removal devicewhich is higher in degree of automation, low in use cost, timesaving andlaborsaving to use, good in snow removal effect, and capable of rapidlyshoveling the accumulated snow after snowing, thereby facilitatingoutgoing of people.

SUMMARY

An objective of the present invention is to provide a snow removaldevice having an automatic working capacity.

The technical solution adopted by the present invention to solve thetechnical problems is as follows: a snow removal device having anautomatic working capacity comprises a working module, configured toexecute specific work of the automatic snow removal device; a movingmodule, configured to drive the automatic snow removal device to move onthe ground; an energy module, at least providing energy for the movingmodule of the automatic snow removal device, or at least providingenergy for both the moving module and the working module; a detectionmodule, configured to detect external environment and/or internalparameters; and a control module, wherein the control module stores anautomatic working algorithm of the snow removal device, and the controlmodule controls the moving module and/or the working module of theautomatic snow removal device according to the information detected bythe detection module and based on the algorithm, such that the automaticsnow removal device walks and works according to a preset path rule.

In one embodiment, the energy module comprises a chargeable batteryand/or photovoltaic battery.

In one embodiment, the working module comprises a snow scrapingcomponent, a snow throwing component and a motor driving the snowscraping component and the snow throwing component to work.

In one embodiment, the snow scraping component comprises a snowcollecting wheel, and a rotary speed of the snow collecting wheel issmaller than 100 rpm.

In one embodiment, the snow throwing component comprises a snow throwingwheel driven by the motor, and a rotary speed of the snow throwing wheelis 1000-5000 rpm.

In one embodiment, the snow throwing component comprises a snow throwingcylinder for throwing out the snow collected by the snow scrapingcomponent, the detection module comprises an obstacle detection device,the obstacle detection device is configured to detect obstacles within apreset range in a snow output direction of the snow throwing cylinder,and the control module adjusts a position of the snow throwing cylinderaccording to a signal detected by the obstacle detection device tochange a snow outlet direction.

In one embodiment, the moving module comprises a driving wheel, a movingmotor driving the driving wheel, a driven wheel and a track connected onthe driving wheel and a driven wheel.

In one embodiment, the detection module comprises a direction detectiondevice, the direction detection device is configured to detect a movingdirection of the snow removal device, the snow removal device furthercomprises an input module, the control module can automatically generatea border coordinate map by taking a start point position where the snowremoval device begins to work as an original point according to theinformation of a working area of a rule input by the input module, andthe control module controls the automatic snow removal device to moveand work in a border of the working area by using the directiondetection device according to the border coordinate map.

In one embodiment, the direction detection device comprises anelectronic compass or gyroscope.

In one embodiment, the automatic snow removal device further comprises alocation navigation module, the control module stores the bordercoordinate map of the working area of the snow removal device, and thecontrol module controls the automatic snow removal device to regularlymove and work within the working area according to the border coordinatemap and coordinates of a real time position of the automatic snowremoval device detected by the location navigation module.

In one embodiment, the detection module comprises an energy detectionunit, the energy detection unit is configured to detect an energy valueof the energy module and feeds information of the energy value back tothe control module, and when the energy value detected by the detectionmodule reaches or is lower than a preset value, the control modulecontrols the automatic moving snow removal device to move to a presetsite for energy supplement.

In one embodiment, the control module comprises a path comparison unit,the path comparison unit can compare a path where the snow removal hasbeen finished with a preset path, and when both of them are consistent,the control module controls the automatic snow removal device to move tothe preset site for energy supplement.

In one embodiment, the automatic snow removal device is the snow removaldevice has at least three states, a moving state of regularly moving andworking along the preset path, a standby state of stopping in the presetsite and an energy supplement state of stopping in the preset site, thedetection module comprises a snow detection device, and if the snowdetection device detects snow or that a snowfall reaches a preset value,the control module controls the snow removal device to depart from thepreset site and to be converted from the standby state to the workingstate.

In one embodiment, an automatic moving snow removal device comprises aworking module, configured to execute specific work of the automaticmoving snow removal device; a moving module, configured to drive theautomatic moving snow removal device to move on the ground; an energymodule, configured to provide energy for the moving module and theworking module of the automatic moving snow removal device; and acontrol module, wherein the control module is configured to control theworking module and the moving module of the automatic moving snowremoval device; the working module comprises at least two working headmechanisms, the at least two working head mechanisms are alternativelymatched and connected to a host of the automatic moving snow removaldevice, and the control module executes a control mode corresponding tothe working head mechanism according to the matched and connectedworking head.

In one embodiment, the host of the automatic moving snow removal devicecomprises a connecting part configured to be matched and connected withthe working head mechanism, the connecting part is provided with atleast two signal switches, the at least two working head mechanisms arematched and connected to the host to trigger different signal switches,and the control module recognizes a form of the working head mechanismaccording to different switch signals.

In one embodiment, the at least two working head mechanisms respectivelycomprise a working part for snow removal and a working motor driving theworking part to move, and the control modes corresponding to the atleast two working head mechanisms comprise rotary speeds and/or turningdirections of respectively corresponding working motors.

In one embodiment, the moving module comprises at least one drivingwheel and a moving motor driving the driving wheel, and the controlmodes corresponding to the at least two working head mechanisms compriserotary speeds and/or turning directions of respectively correspondingmoving motors.

In one embodiment, the control modes corresponding to the at least twoworking head mechanisms comprise respectively corresponding snow removalpaths.

In an embodiment an automatic moving snow removal device comprises aworking module, configured to execute specific work of the automaticmoving snow removal device; a moving module, configured to drive theautomatic moving snow removal device to move on the ground; an energymodule, configured to provide energy for the moving module and theworking module of the automatic moving snow removal device; and acontrol module, wherein the control module is configured to control theworking module and the moving module of the automatic moving snowremoval device; the automatic moving snow removal device furthercomprises a detection module, the detection module feeds the informationof detected snowfall back to the control module, and when the snowfallreaches a preset value, the control module controls the moving module tomove and the working module to work.

In one embodiment, the snow detection module comprises a pressure sensoror a humidity sensor, the pressure sensor feeds a detected pressuresignal back to the control module, the humidity sensor feeds a detectedhumidity signal back to the control module, and the control modulejudges whether it snows according to the humidity signal, calculates athickness of the snow according to the pressure signal in the case ofsnowing, and controls the automatic moving snow removal device to beginto work when the thickness of the snow reaches a preset value.

In one embodiment, the snow detection module comprises at least twoconductive elements and an insulating part disposed between the twoconductive elements, a height of the insulating part is larger thanthose of the two conductive elements, and the height of the insulatingpart is the preset value of the thickness of the snow.

In one embodiment, the snow detection module comprises a container and alight sensor and a humidity sensor disposed in the container, the lightsensor feeds a detected light signal back to the control module, thehumidity module feeds a detected humidity signal back to the controlmodule, and the control module judges snow coverage according to thelight signal and the humidity signal and then controls the automaticmoving snow removal device to begin to work.

In one embodiment, the snow detection module comprises at least twoconductive parts disposed on the bottom of the automatic moving snowremoval device, the at least two conductive parts are disposed indifferent heights relative to the ground and send a turning on signal tothe control module, and the control module judges the thickness of thesnow according to different turning on signals and the heights of theconductive parts.

In one embodiment, the control module executes different snow removalmodes according to different snowfalls.

In an embodiment an automatic moving snow removal device comprises aworking module, configured to execute specific work of the automaticmoving snow removal device; a moving module, configured to drive theautomatic moving snow removal device to move on the ground; an energymodule, configured to provide energy for the moving module and theworking module of the automatic moving snow removal device; and acontrol module, wherein the control module is configured to control theworking module and the moving module of the automatic moving snowremoval device; the automatic moving snow removal device furthercomprises a man-machine interaction module, the man-machine interactionmodule comprises an operation panel configured to input/outputinformation, and the control module can automatically generate a snowremoval path according to the size information of a working area inputon the operation panel, and controls the moving module and the workingmodule according to the generated snow removal path.

In one embodiment, the automatic moving snow removal device furthercomprises a detection module, the detection module is configured todetect a moving direction of the automatic moving snow removal deviceand transmit detected direction data to the control module, and thecontrol module compares the received direction data with direction dataof the preset path and controls the moving module to adjust the movingdirection when the two pieces of data are inconsistent.

In one embodiment, the detection module comprises an electronic compassor gyroscope.

In one embodiment, a start point position of the automatic moving snowremoval device along the snow removal path is set to be a coordinateoriginal point, and the control module calculates a moving distance ofthe automatic moving snow removal device according to a moving speed andmoving time of the moving module and controls the moving module to steerwhen the moving distance reaches the input size of the working area.

In one embodiment, a control method for the foregoing automatic movingsnow removal device comprises the following steps: 1) inputting sizeinformation of a working area input on an operation panel of theautomatic moving snow removal device; 2) generating a snow removal pathaccording to the input size information of the working area by a controlmodule; and 3) controlling a working module and a moving module toremove snow along the generated snow removal path by the control module.

In one embodiment, the control method further comprises setting a startpoint position of the automatic moving snow removal device along thesnow removal path to be a coordinate original point.

In one embodiment, the control method further comprises that the controlmodule controls the moving module to cause the automatic moving snowremoval device to return back to the start point position by the controlmodule after the automatic moving snow removal device moves along thecomplete snow removal path.

In one embodiment, a plurality of the snow removal paths are generated,and the final snow removal path can be determined in a manner of userselection or system default.

In an embodiment an automatic moving snow removal device comprises aworking module, configured to execute specific work of the automaticmoving snow removal device; a moving module, configured to drive theautomatic moving snow removal device to move on the ground; an energymodule, configured to provide energy for the moving module and theworking module of the automatic moving snow removal device; and acontrol module, wherein the control module is configured to control theworking module and the moving module of the automatic moving snowremoval device; the automatic moving snow removal device furthercomprises a heating thermal insulation device, and the heating thermalinsulation device can be repeatedly heated by electric energy and keepspart of the energy module and the control module at a presettemperature.

In one embodiment, the heating thermal insulation device comprises anelectric heating thermal insulation material at least partially coveringa host housing of the automatic moving snow removal device.

In one embodiment, the electric heating thermal insulation material iselectrified for heating during energy supplement of the automatic movingsnow removal device, and performs thermal insulation during working ofthe automatic moving snow removal device.

In one embodiment, the heating thermal insulation device comprises anelectric heating thermal insulation material at least partially coveringthe energy module and the control module of the automatic moving snowremoval device.

In an embodiment an automatic moving snow removal device comprises aworking module, configured to execute specific work of the automaticmoving snow removal device; a moving module, configured to drive theautomatic moving snow removal device to move on the ground; an energymodule, configured to provide energy for the moving module and theworking module of the automatic moving snow removal device; and acontrol module, wherein the control module is configured to control theworking module and the moving module of the automatic moving snowremoval device, such that the automatic moving snow removal device movesand works within a preset border.

The automatic moving snow removal device further comprises a locationnavigation module, and the control module generates a snow removal pathaccording to a map of the preset border, and controls the automaticmoving snow removal device to move along the snow removal path accordingto coordinate data provided by the location navigation module.

In one embodiment, the map of the preset border is formed by continuouscoordinates formed in a manner that the location navigation module movesfor a circle along the border of a working area.

In one embodiment, the preset border is an electrified wire disposedalong the border of the working area.

In one embodiment, the location navigation module is a GPS locationnavigation module, the automatic moving snow removal device furthercomprises a detection module, the detection module is configured todetect a relative position relationship between the automatic movingsnow removal device and the electrified wire, the control modulecalculates relative coordinates of the automatic moving snow removaldevice according to the information navigation position detected by thedetection module and performs absolute location and error eliminationaccording to the coordinates of the GPS location navigation module, toobtain the map of the preset border formed by continuous coordinates ofthe automatic moving snow removal device along the electrified wire.

In one embodiment, the location navigation module is an ultra wide bandlocation module, at least two ultra wide band labels are disposed insideor outside the preset border, the ultra wide band location modulecalculates relative coordinates of two positions of the automatic movingsnow removal device by the at least two ultra wide band labels, theultra wide band location module moves for a circle along the border ofthe moving area to form two continuous relative coordinates relative tothe ultra wide band labels, and the two continuous relative coordinatesform the map of the preset border.

In one embodiment, the map of the preset border is generated byartificially circling on an electronic map and leading into the controlmodule.

In one embodiment, the automatic moving snow removal device furthercomprises a detection module, the detection module is configured for adip angle of the automatic walking snow removal device, the locationnavigation module can record the coordinate value of each point when theautomatic walking snow removal device walks along a preset area, thedetection module records the dip angle value of each point, and thecontrol module generates the border map in a 3D form according to thecoordinate values and the dip angle values.

In one embodiment, the snow removal path performs snow removal toward adirection along an extending direction parallel with a road or performsreciprocating snow removal back and forth.

In one embodiment, the snow removal path performs snow removal toward adirection along an extending direction vertical to the road or performsreciprocating snow removal back and forth.

In one embodiment, the snow removal path comprises at least one snowpiling point.

In one embodiment, the snow removal path contains a fixed snow throwingdirection.

In one embodiment, the map of the preset border comprises at least twodifferent areas, and the control module can execute different controlmodes according to the marks of different areas.

In one embodiment, the at least two different areas comprise at leastone snow removal area, and one or more of an intersection area, a lawnarea, an island area and a narrow passage area.

In one embodiment, the control modules defaults that the snow removal isrequired for the snow removal area, no snow removal is required for theisland area, and the snow removal is selective for other areas.

In one embodiment, the at least two different areas comprise at leasttwo snow removal areas and a connecting passage area between the twosnow removal areas.

In one embodiment, the control module defaults that the snow removal isrequired for the snow removal areas, and is selective for the connectingpassage area.

In one embodiment, the automatic moving snow removal device furthercomprises a working alarm device, and if the automatic moving snowremoval device enters a set area and/or reaches preset alarm time, thecontrol module controls the working alarm device to alarm.

In an embodiment an automatic moving snow removal device comprises aworking module, configured to execute specific work of the automaticmoving snow removal device; a moving module, configured to drive theautomatic moving snow removal device to move on the ground; an energymodule, configured to provide energy for the moving module and theworking module of the automatic moving snow removal device; and acontrol module, wherein the control module is configured to control theworking module and the moving module of the automatic moving snowremoval device, such that the automatic moving snow removal device movesand works within a preset border.

The automatic moving snow removal device further comprises a detectionmodule, the detection module is configured to detect an energy value ofthe energy module and feeds information of the energy value back to thecontrol module, and when the energy value detected by the detectionmodule reaches or is lower than a preset value, the control modulecontrols the automatic moving snow removal device to move to a presetsite for energy supplement.

In one embodiment, the energy module comprises a chargeable battery anda charging connecting structure, the working module and the chargingconnecting structure are respectively disposed on front and back sidesof the automatic moving snow removal device, a snow removal movingdirection of the automatic snow removal device is the advancingdirection, the automatic moving snow removal device advances to thepreset site along a withdrawing direction opposite to the advancingdirection, and the charging connecting structure is caused to be jointedwith a charging structure on the preset site.

In one embodiment, the energy module comprises a chargeable battery anda wireless charging receiving device, the wireless charging receivingdevice is disposed on the bottom of the automatic moving snow removaldevice, a wireless charging emitting device is disposed on the presetsite, and the chargeable battery is charged by jointing the wirelesscharging receiving device and the wireless charging emitting device.

In one embodiment, there are at least preset values of the energy value,and the control module controls the automatic moving snow removal deviceto return back to the preset site along different paths according to thedifference that the energy value detected by the detection modulereaches or is lower than the preset values.

In one embodiment, the preset values comprise a first preset value and asecond preset value, if the energy value detected by the detectionmodule reaches or is lower than the first preset value, the controlmodule controls the automatic moving snow removal device to move andreturn back along the preset snow removal path and controls the workingmodule for snow removal, and if the energy value detected by thedetection module reaches or is lower than the second preset value, thecontrol module controls the automatic moving snow removal device to moveand return back along the path where the snow removal has been finished.

In an embodiment an automatic moving snow removal device comprises aworking module, configured to execute specific work of the automaticmoving snow removal device; a moving module, configured to drive theautomatic moving snow removal device to move on the ground; an energymodule, configured to provide energy for the moving module and theworking module of the automatic moving snow removal device; and acontrol module, wherein the control module is configured to control theworking module and the moving module of the automatic moving snowremoval device, such that the automatic moving snow removal device movesand works within a preset border.

The control module can generates snow removal paths according to apreset area, and controls the automatic moving snow removal device tomove to the preset site after the automatic moving snow removal devicemoves along all the snow removal paths completely.

In an embodiment an automatic moving snow removal device comprises aworking module, configured to execute specific work of the automaticmoving snow removal device; a moving module, configured to drive theautomatic moving snow removal device to move on the ground; an energymodule, configured to provide energy for the moving module and theworking module of the automatic moving snow removal device; and acontrol module, wherein the control module is configured to control theworking module and the moving module of the automatic moving snowremoval device; the working module comprises a working head mechanismmovably matched and connected to a host of the automatic moving snowremoval device, and the working head mechanism can adjust the distancethereof relative to the ground relative to the movement of the host ofthe automatic moving snow removal device.

In one embodiment, the working head mechanism is provided with a rollingwheel device, and when the ground supporting the rolling wheel deviceforms an angle with the ground supporting the host, the rolling wheeldevice can be guided to drive the working head mechanism to moverelative to the host.

In one embodiment, the automatic moving snow removal device furthercomprises a working head mechanism height adjusting mechanism, theworking head mechanism height adjusting mechanism comprises a drivemotor and a transmission mechanism connected between the drive motor andthe working head mechanism, and the drive motor can drive the workinghead mechanism to move relative to the host by the transmissionmechanism.

In one embodiment, the control module controls the drive motor to drivethe working head mechanism to ascend or descend relative to the hostaccording to a preset control mode.

In an embodiment an automatic moving snow removal device comprises aworking module, configured to execute specific work of the automaticmoving snow removal device; a moving module, configured to drive theautomatic moving snow removal device to move on the ground; an energymodule, configured to provide energy for the moving module and theworking module of the automatic moving snow removal device; and acontrol module, wherein the control module is configured to control theworking module and the moving module of the automatic moving snowremoval device; the working module comprises a working head mechanismconfigured to collect the snow on the ground and throw the snow to onedirection, the automatic moving snow removal device further comprises asnow throwing angle adjusting mechanism configured to adjust a snowthrowing direction, and the snow throwing angle adjusting mechanism isconnected to the working head mechanism, and the snow throwing angleadjusting mechanism adjusts the snow throwing direction according to aninstruction of the control module.

In one embodiment, the control module instructs the snow throwing angleadjusting mechanism to adjust the snow throwing direction according tothe change of the advancing direction of the automatic moving snowremoval device.

In one embodiment, the automatic moving snow removal device furthercomprises an obstacle detection device, the obstacle detection device isconfigured to detect people and objects within a preset range of thesnow throwing direction, and the control module instructs the snowthrowing angle adjusting mechanism to adjust the snow throwing directionaccording to a signal detected by the obstacle detection device.

In one embodiment, the working head mechanism comprises a snow throwingcylinder, the snow throwing angle adjusting mechanism comprises asteering motor and a transmission mechanism connected between thesteering motor and the snow throwing cylinder, and the steering motorcan be controlled by the transmission mechanism to drive the snowthrowing cylinder to rotate to change the snow throwing direction.

In an embodiment an automatic snow removal system comprises an automaticmoving snow removal device and a remote control device controlling theautomatic moving snow removal device to operate, wherein the automaticmoving snow removal device further comprises a working module,configured to execute specific work of the automatic moving snow removaldevice; a moving module, configured to drive the automatic moving snowremoval device to move on the ground; an energy module, configured toprovide energy for the moving module and the working module of theautomatic moving snow removal device; and a control module, wherein thecontrol module is configured to control the working module and themoving module of the automatic moving snow removal device; the automaticmoving snow removal device further comprises a monitoring module and acommunication module, the monitoring module is configured to monitor thesurrounding environment of the automatic moving snow removal device, thecommunication module is configured to transmit information monitored bythe monitoring module to the remote control device, receive a signalsent by the remote control device and sends the signal to the controlmodule, and the control module controls the moving module and theworking module according to the signal received by the communicationmodule.

In an embodiment an automatic snow removal system comprises an automaticmoving snow removal device and a remote control device controlling theautomatic moving snow removal device to operate, wherein the automaticmoving snow removal device further comprises a working module,configured to execute specific work of the automatic moving snow removaldevice; a moving module, configured to drive the automatic moving snowremoval device to move on the ground; an energy module, configured toprovide energy for the moving module and the working module of theautomatic moving snow removal device; a control module, wherein thecontrol module is configured to control the working module and themoving module of the automatic moving snow removal device; and acommunication module, configured to receive a signal sent by the remotecontrol device and transmit to the control module; the remote controldevice comprises an operation panel configured to input/outputinformation, and the control module can automatically generate a snowremoval path according to the size information of a working area inputby a user on the operation panel and received by the communicationmodule, and controls the moving module and the working module accordingto the generated snow removal path.

In one embodiment, the automatic moving snow removal device furthercomprises a detection module, the detection module is configured todetect a moving direction of the automatic moving snow removal deviceand transmit detected direction data to the control module, and thecontrol module compares the received direction data with direction dataof the preset path and controls the moving module to adjust the movingdirection when the two pieces of data are inconsistent.

In one embodiment, the detection module comprises an electronic compassor gyroscope.

In one embodiment, a start point position of the automatic moving snowremoval device along the snow removal path is set to be a coordinateoriginal point, and the control module calculates a moving distance ofthe automatic moving snow removal device according to a moving speed andmoving time of the moving module and controls the moving module to steerwhen the moving distance reaches the input size of the working area.

In one embodiment, the moving information of the automatic moving snowremoval device can be input on the operation panel of the remote controldevice, and the control module controls the moving module according to amoving signal output by the remote control device and received by thecommunication module.

A control method for the foregoing automatic moving snow removal devicecomprises the following steps: 1) inputting size information of aworking area on an operation panel of an remote control device; 2)causing the automatic moving snow removal device to move to the workingarea by the remote control device; 3) generating a snow removal pathaccording to the input size information of the working area by a controlmodule; and 4) controlling a working module and a moving module toremove snow along the generated snow removal path by the control module.

In one embodiment, the control method further comprises setting a startpoint position of the automatic moving snow removal device along thesnow removal path to be a coordinate original point.

In one embodiment, the control method further comprises that the controlmodule controls the moving module to cause the automatic moving snowremoval device to return back to the start point position after theautomatic moving snow removal device moves along the complete snowremoval path.

In one embodiment, a plurality of the snow removal paths are generated,and the final snow removal path can be determined in a manner of userselection or system default.

In an embodiment an automatic snow removal system comprises an automaticmoving snow removal device and a monitoring device monitoring operationof the automatic moving snow removal device, wherein the automaticmoving snow removal device further comprises a working module,configured to execute specific work of the automatic moving snow removaldevice; a moving module, configured to drive the automatic moving snowremoval device to move on the ground; an energy module, configured toprovide energy for the moving module and the working module of theautomatic moving snow removal device; and a control module, wherein thecontrol module is configured to control the working module and themoving module of the automatic moving snow removal device; the automaticmoving snow removal device further comprises a communication module, themap of a working area of the automatic moving snow removal device isdetermined, whether the automatic moving snow removal device moveswithin the working areas is monitored, the communication module isconfigured to transmit information monitored by the monitoring module tothe control module, and the control module controls the moving moduleand the working module according to the signal received by thecommunication module.

In an embodiment an automatic snow removal system comprises an automaticmoving snow removal device and a boundary configured to limit a workingarea of the automatic moving snow removal device, wherein the automaticmoving snow removal device further comprises a working module,configured to execute specific work of the automatic moving snow removaldevice; a moving module, configured to drive the automatic moving snowremoval device to move on the ground; an energy module, configured toprovide energy for the moving module and the working module of theautomatic moving snow removal device; and a control module, wherein thecontrol module is configured to control the working module and themoving module of the automatic moving snow removal device; and theboundary can be set into multiple marks, and the control module executescontrol modes corresponding to the marks according to the marks of theboundary.

In one embodiment, the control modes corresponding to the multiple markscomprise one or more of the mode of removing snow and moving along apreset path, the mode of moving along the preset path, the mode of snowremoval according to a preset height and the mode of no need of snowremoval.

In an embodiment an automatic snow removal comprises an automatic movingsnow removal device and a dock for parking or energy supplement of theautomatic moving snow removal device, wherein the automatic moving snowremoval device further comprises a working module, configured to executespecific work of the automatic moving snow removal device; a movingmodule, configured to drive the automatic moving snow removal device tomove on the ground; an energy module, configured to provide energy forthe moving module and the working module of the automatic moving snowremoval device; and a control module, wherein the control module isconfigured to control the working module and the moving module of theautomatic moving snow removal device; and the dock comprises a doorcapable of being converted between an opening state and a closing state,and the door can be closed as the automatic moving snow removal deviceenters the dock so as to close the automatic moving snow removal devicewithin the dock.

In one embodiment, the door is kept in an opening state by a biaspressure mechanism, and the movement that the automatic moving snowremoval device enters the dock can overcome an abutting force of thebias pressure mechanism to convert the door to the closing state.

In one embodiment, the dock is provided with a detection device and anautomatic control device configured to control the door to be opened andclosed, and if the detection device detects the movement of theautomatic moving snow removal device to a direction of the dock, theautomatic control device controls the door to be opened for the entranceof the automatic moving snow removal device.

In an embodiment an automatic snow removal system comprises an automaticmoving snow removal device and a dock for parking or energy supplementof the automatic moving snow removal device, wherein the automaticmoving snow removal device further comprises a working module,configured to execute specific work of the automatic moving snow removaldevice; a moving module, configured to drive the automatic moving snowremoval device to move on the ground; an energy module, configured toprovide energy for the moving module and the working module of theautomatic moving snow removal device; and a control module, wherein thecontrol module is configured to control the working module and themoving module of the automatic moving snow removal device; and the dockcomprises a base and an outer cover connected on the base, the outercover is provided with a snow sweeping device, and the snow sweepingdevice can be triggered once the automatic moving snow removal deviceenters the dock to clean the accumulated snow on the top of theautomatic moving snow removal device.

In one embodiment, the snow sweeping device comprises a rolling brushdisposed on the outer edge of the outer cover, and the rolling brush canrotate around an axis parallel with the ground.

In one embodiment, the snow sweeping device comprises a plurality of rowbrushes disposed on the outer edge of the outer cover, and the pluralityof row brushes can rotate around an axis at an angle relative to theground.

In an embodiment an automatic snow removal system comprises an automaticmoving snow removal device and a dock for parking or energy supplementof the automatic moving snow removal device, wherein the automaticmoving snow removal device further comprises a working module,configured to execute specific work of the automatic moving snow removaldevice; a moving module, configured to drive the automatic moving snowremoval device to move on the ground; an energy module, configured toprovide energy for the moving module and the working module of theautomatic moving snow removal device; and a control module, wherein thecontrol module is configured to control the working module and themoving module of the automatic moving snow removal device; and the dockcomprises a base and an outer cover connected on the base, the dock alsocomprises a heating thermal insulation device, and the heating thermalinsulation device is configured to heat and perform thermal insulationon the automatic moving device entering the dock.

In one embodiment, the heating thermal insulation device comprises oneor more of an air heater, an electric furnace, and an electric radiator.

In one embodiment, the heating thermal insulation device comprises anelectric heating thermal insulation material disposed on the outer sidewall or the outer cover or the bottom of the dock.

In one embodiment, the electric heating thermal insulation material isconstructed into a carbon crystal floor heating material, and the carboncrystal floor heating material is embedded into the bottom of the base.

A dock for parking or energy supplement of an automatic moving devicecomprises a base and an outer cover connected on the base, the outercover can be converted between an opening state and a closing staterelative to the base, and the outer cover be closed as the automaticmoving snow removal device enters the dock so as to close the automaticmoving snow removal device within the dock.

In one embodiment, the outer cover is kept in an opening state by a biaspressure mechanism, and the movement that the automatic moving snowremoval device enters the dock can overcome an abutting force of thebias pressure mechanism to convert the outer cover to the closing state.

In one embodiment, the dock is provided with a detection device and anautomatic control device configured to control the door to be opened andclosed, and if the detection device detects the movement of theautomatic moving snow removal device to a direction of the dock, theautomatic control device controls the outer cover to be opened to forthe entrance of the automatic moving snow removal device.

A dock for parking or energy supplement of an automatic moving devicecomprises a base and an outer cover connected on the base, the dock alsocomprises a heating thermal insulation device, and the heating thermalinsulation device is configured to heat and perform thermal insulationon the automatic moving device entering the dock.

In one embodiment, the heating thermal insulation device comprises oneor more of an air heater, an electric furnace, and an electric radiator.

In one embodiment, the heating thermal insulation device comprises anelectric heating thermal insulation material disposed on the outer sidewall or the outer cover or the bottom of the dock.

In one embodiment, the electric heating thermal insulation material isconstructed into a carbon crystal floor heating material, and the carboncrystal floor heating material is embedded into the bottom of the base.

A dock for parking or energy supplement of an automatic moving devicecomprises a base and an outer cover connected on the base, the outercover is provided with a snow sweeping device, and the snow sweepingdevice can be triggered once the automatic moving snow removal deviceenters the dock to clean the accumulated snow on the top of theautomatic moving snow removal device.

In one embodiment, the snow sweeping device comprises a rolling brushdisposed on the outer edge of the outer cover, and the rolling brush canrotate around an axis parallel with the ground.

In one embodiment, the snow sweeping device comprises a plurality of rowbrushes disposed on the outer edge of the outer cover, and the pluralityof row brushes can rotate around an axis at an angle relative to theground.

A control method for a self-moving device, the self-moving device isprovided with a turnable object throwing device and a plurality ofobstacle sensors respectively corresponding to different detectionpositions, the method comprises: receiving signals of the plurality ofobstacle sensors; judging whether the obstacle sensor corresponding tothe current object throwing direction detects an obstacle according tothe received signal of the obstacle sensor; controlling the objectthrowing device to steer when the obstacle sensor corresponding to thecurrent object throwing direction detects the obstacle, such that theobject throwing direction is the direction of an area where the obstacleis not detected and which is unprocessed by the self-moving device.

In one embodiment, the step of setting the object throwing direction tobe the direction of an area where the obstacle is not detected and whichis unprocessed by the self-moving device comprises judging whether theobstacle sensors except for the obstacle sensor corresponding to thecurrent object throwing direction detect the obstacle; if the obstaclesensor not detecting the obstacle exists, judging whether a directioncorresponding to the obstacle sensor not detecting the obstacle pointsat the area unprocessed by the self-moving device; if the directioncorresponding to the obstacle sensor not detecting the obstacle pointsat the area that has been processed by the self-moving device, thencontinuing to judge till one of the obstacle sensors not detecting theobstacle is judged and the direction corresponding to such obstaclesensor points at the area unprocessed by the self-moving device, andsetting the corresponding direction to be the object throwing direction.

In one embodiment, the method further comprises the step that if allobstacle sensors detect the obstacle, or the directions corresponding tothe obstacle sensors not detecting the obstacle are all the directionsof the areas that have been processed by the self-moving device, thencontrolling the self-moving device to halt for preset time, and thencontinuing to execute the step of judging whether the obstacle sensorcorresponding to the current object throwing direction detects anobstacle according to the received signal of the obstacle sensor.

In one embodiment, if after the self-moving device is halted for certaintime, all obstacle sensors detect the obstacle, or the directionscorresponding to the obstacle sensors not detecting the obstacle are allthe directions of the areas that have been processed by the self-movingdevice, then controlling the self-moving device to withdraw for certaindistance, and re-planning a moving path of the self-moving device.

In one embodiment, the method further comprises that before theself-moving device moves, setting an initial object throwing directionof the object throwing device as a first direction; receiving signals ofthe multiple obstacle sensors; judging whether the obstacle sensorcorresponding to the initial object throwing direction detects theobstacle according to the received signal of the obstacle sensor; andsetting the object throwing direction to be a direction corresponding tothe obstacle sensor not detecting the obstacle if the obstacle sensorcorresponding to the initial object throwing direction detects theobstacle.

In one embodiment, the self-moving device is a snow blower.

In one embodiment, the obstacle sensors are ultrasonic sensors.

The present embodiments further provide a control system for aself-moving device. The self-moving device is provided with a turnableobject throwing device and a plurality of obstacle sensors respectivelycorresponding to different detection positions, the system comprises asignal receiving module, configured to receive signals of the pluralityof obstacle sensors; a signal processing module, an input end thereofbeing connected to an input end of the signal receiving module, whereinthe signal processing module is configured to judge whether the obstaclesensor corresponding to the current object throwing direction detects anobstacle according to the received signal of the obstacle sensor; and asignal output module, an input end thereof being connected to an outputend of the signal processing module, wherein the signal output module isconfigured to cause the object throwing device to steer when theobstacle sensor corresponding to the current object throwing directiondetects the obstacle, such that the object throwing direction is thedirection of an area where the obstacle is not detected and which isunprocessed by the self-moving device.

In one embodiment, the signal processing module comprises an obstaclesensor judging unit, an input end thereof being connected to an outputend of the signal receiving module, wherein the obstacle sensor judgingunit is configured to judge whether the obstacle sensors except for theobstacle sensor corresponding to the current object throwing directiondetect the obstacle; and an area judging unit, an input end thereofbeing connected to an output end of the obstacle sensor judging unit,wherein the area judging unit is configured to, if the obstacle sensornot detecting the obstacle exists, judge whether a directioncorresponding to the obstacle sensor not detecting the obstacle pointsat the area unprocessed by the self-moving device.

In one embodiment, the signal output module is configured to, when allobstacle sensors detect the obstacle, or the directions corresponding tothe obstacle sensors not detecting the obstacle are all the directionsof the areas that have been processed by the self-moving device, controlthe self-moving device to halt for preset time, and then judge whetherthe obstacle sensor corresponding to the current object throwingdirection detects an obstacle according to the received signal of theobstacle sensor.

In one embodiment, if after the self-moving device is halted for certaintime, all obstacle sensors detect the obstacle, or the directionscorresponding to the obstacle sensors not detecting the obstacle are allthe directions of the areas that have been processed by the self-movingdevice, then the self-moving device is controlled to withdraw forcertain distance, and a moving path of the self-moving device isre-planned.

In one embodiment, the obstacle sensors are ultrasonic sensors.

In one embodiment, the self-moving device is a snow blower.

The present embodiments further provide a snow throwing method,comprising the steps of obtaining a wind direction during snow throwing;obtaining a current snow throwing direction; obtaining an angledifference between the wind direction and the snow throwing direction;and adjusting the snow throwing direction to enable the angle differencebetween the wind direction and the snow throwing direction to be withina preset range.

In one embodiment, the step of enabling the angle difference between thewind direction and the snow throwing direction to be within a presetrange comprises: adjusting the snow throwing direction to be consistentwith the wind direction.

In one embodiment, adjusting the snow throwing direction comprisesrotating a snow throwing mechanism to change the snow throwingdirection.

In one embodiment, the snow throwing method further comprises thefollowing steps: obtaining wind power after the wind direction ischanged when the wind direction is changed; judging whether the windpower exceeds a predetermined threshold; and entering the step ofadjusting the snow throwing direction to enable the angle differencebetween the wind direction and the snow throwing direction to be withina preset range if yes, and keeping the snow throwing direction unchangedif no.

In one embodiment, the step of keeping the snow throwing directionunchanged if no comprises increasing an initial speed when the snow isthrown, and keeping the snow throwing direction unchanged.

In one embodiment, the step of obtaining a wind direction during snowthrowing comprises obtaining multiple wind power of multiple winddirections and the wind directions within a preset time period;selecting the wind direction of the maximal wind power; and taking thewind direction of the maximal wind power as the wind direction duringsnow throwing.

In one embodiment, the snow throwing method further comprises the steps:judging whether the maximal wind power exceeds a predeterminedthreshold; and taking the wind direction of the maximal wind directionas the wind direction during snow throwing if yes, and selecting anywind direction as the wind direction during snow throwing or no winddirection if no.

The embodiments further provide a snow throwing system, comprising awind direction obtaining module, configured to obtain a wind directionduring snow throwing; a snow throwing direction detection module,configured to obtain a current snow throwing direction; an angle judgingmodule, configured to obtain an angle difference between the winddirection and the snow throwing direction; and a snow throwing directioncontrol module, configured to adjust the snow throwing direction toenable the angle difference between the wind direction and the snowthrowing direction to be within a preset range.

In one embodiment, the step of adjusting the snow throwing direction toenable the angle difference between the wind direction and the snowthrowing direction to be within a preset range comprises: adjusting thesnow throwing direction to be consistent with the wind direction.

In one embodiment, the adjusting the snow throwing direction comprisesrotating a snow throwing mechanism to change the snow throwingdirection.

In one embodiment, the wind direction obtaining module is furtherconfigured to obtain wind power after the wind direction is changed; andjudge whether the wind power exceeds a predetermined threshold.

In one embodiment, the snow throwing direction control module is furtherconfigured to increase an initial speed when the snow is thrown, andkeep the snow throwing direction unchanged.

In one embodiment, the wind direction obtaining module is furtherconfigured to obtain multiple wind power of multiple wind directions andthe wind directions within a preset time period; select the winddirection of the maximal wind power; and take the wind direction of themaximal wind power as the wind direction during snow throwing.

In one embodiment, the wind direction obtaining module is furtherconfigured to judge whether the maximal wind power exceeds apredetermined threshold; and take the wind direction of the maximal winddirection as the wind direction during snow throwing if yes, and selectany wind direction as the wind direction during snow throwing if no.

The present embodiments further provide an automatic moving snow removaldevice, and the snow and inclusions thrown by which cannot injure peopleor damage objects, that is, the thrown objects have save energy.Specifically, the automatic moving snow removal device comprises amoving module, driving a snow blower to move; a working module,comprising a working motor and a snow throwing mechanism driven by theworking motor, wherein the snow throwing mechanism is driven by theworking motor to collect accumulated snow and inclusions on the groundand throw out of the snow throwing mechanism; and a control module,configured to control a rotary speed of the working motor to cause aspeed when the inclusions depart from the snow throwing mechanism is nothigher than 41 m/s.

In one embodiment, the speed when the inclusions depart from the snowthrowing mechanism is not higher than 20 m/s.

In one embodiment, the speed when the inclusions depart from the snowthrowing mechanism is 17.8±1 m/s.

In one embodiment, the speed when the inclusions depart from the snowthrowing mechanism is 16.8±1 m/s.

In one embodiment, the speed when the inclusions depart from the snowthrowing mechanism is 14.2±1 m/s.

In one embodiment, the speed when the inclusions depart from the snowthrowing mechanism is 12.5±1 m/s

The present embodiments further provide an automatic moving snow removaldevice, and the snow and inclusions thrown by which cannot injure peopleor damage objects, that is, the thrown objects have save energy.Specifically, the automatic moving snow removal device comprises amoving module, driving the snow removal device to move; a workingmodule, comprising a working motor and a snow throwing mechanism drivenby the working motor, wherein the snow throwing mechanism is driven bythe working motor to collect accumulated snow and inclusions on theground and throw out of the snow throwing mechanism; and a controlmodule, configured to control a rotary speed of the working motor tocause an impulse when the inclusions depart from the snow throwingmechanism is not higher than 0.041 Kg·m/s.

In one embodiment, the impulse when the inclusions depart from the snowthrowing mechanism is not higher than 0.02 Kg·m/s.

In one embodiment, the impulse when the inclusions depart from the snowthrowing mechanism is 0.0178±0.001 Kg·m/s.

In one embodiment, the impulse when the inclusions depart from the snowthrowing mechanism is 0.0168±0.001 Kg·m/s.

In one embodiment, the impulse when the inclusions depart from the snowthrowing mechanism is 0.0142±0.001 Kg·m/s.

In one embodiment, the impulse when the inclusions depart from the snowthrowing mechanism is 0.0125±0.001 Kg·m/s.

In one embodiment, the snow throwing mechanism comprises a snow scrapingcomponent rotating around a central axis, the working motor drives thecomponent to rotate to collect the accumulated snow and inclusions tothe snow throwing mechanism, and a maximal linear speed of the snowscraping component is not higher than 41 m/s.

In one embodiment, a radius of said snow scraping component is notlarger than 0.085 m, and a rotary speed of the snow scraping componentis not larger than 2000 r/min.

In one embodiment, the rotary speed of the snow scraping component is2000-1400 r/min.

In one embodiment, the radius of the snow scraping component is notlarger than 0.1 m, and the rotary speed of the snow scraping componentis not larger than 1600 r/min.

The present embodiments further provide a snow removal device capable ofautomatically avoiding obstacles for snow throwing, and the snow removaldevice comprises a working module, configured to execute specific workof the snow removal device and comprising a snow throwing guidingcomponent, guiding the working module to throw snow to a direction overagainst the snow throwing component; a moving module, configured todrive the snow removal device to move on the ground; a detection module,comprising an obstacle sensing component for detecting whether anobstacle exists in an external environment of the snow removal device;and a control module, configured to control the working module and themoving module according to signals transmitted by the detection moduleto cause the working module to throw the snow to a direction without theobstacle.

In one embodiment, the guiding of the snow throwing guiding componentcan be adjusted, the obstacle sensing component is configured to detectwhether the obstacle exists in a direction over against the snowthrowing guiding component, and when judging that the obstacle exists inthe direction over against the snow throwing guiding component accordingto the signal transmitted by the obstacle sensing component, the controlmodule controls the show throwing guiding component to change theguiding.

In one embodiment, the obstacle sensing component is further configuredto detect whether the obstacle exists in other multiple directions inthe external environment of the snow removal device, and the controlmodule controls the snow throwing guiding component to change theguiding according to the signal transmitted by the obstacle sensingcomponent to cause the snow throwing guiding component to be overagainst the direction of an area without the obstacle.

In one embodiment, the detection module further comprises a ground staterecognizing module, the ground state recognizing module recognizes thesnow removal state of the ground of the snow removal device, and thecontrol module controls the snow throwing guiding component to changethe guiding according to the signals transmitted by the obstacle sensingcomponent and the ground state recognizing component to cause the snowthrowing guiding component to be over against the direction of an areawithout the obstacle and without snow removal.

In one embodiment, the obstacle sensing component is configured todetect whether the obstacle exists in a direction over against the snowthrowing guiding component, and the control module controls the snowremoval device to halt for preset time when judging that the obstacleexists in the direction over against the snow throwing guiding componentaccording to the signal transmitted by the obstacle sensing component,then judges whether the obstacle exists in a direction over against thesnow throwing guiding component again, and controls the snow removaldevice to continue to work when the judging result is not.

In one embodiment, when judging the obstacle exists in the directionover against the snow throwing guiding component again, the controlmodule re-plans a moving path of the snow removal device.

The present embodiments further provide a snow removal device capable ofintelligently adjusting a snow throwing direction, the snow removaldevice comprises a working module, configured to execute specific workof the snow removal device and comprising a snow throwing guidingcomponent, guiding the working module to throw snow to a direction overagainst the snow throwing component, wherein the guiding of the snowguiding throwing component is adjustable; a moving module, configured todrive the snow removal device to move on the ground; a detection module,configured to detect environment parameters of an external environmentwhere the snow removal device is and/or internal parameters of the snowremoval device; and a control module, configured to control the snowthrowing guiding component to change the guiding according to the signaltransmitted by the detection module.

In one embodiment, the environment parameters comprise wind direction,and the control module controls an angle difference between thedirection over against the snow throwing guiding component and the winddirection to be within a preset range according to the signaltransmitted by the detection module.

In one embodiment, the environment parameters further comprise whetherthe obstacle exists in the direction over against the snow throwingguiding component, and the control module controls the snow throwingguiding component to change the guiding when judging that the obstacleexists in the direction over against the snow throwing guiding componentaccording to the signal transmitted by the detection module.

The automatic moving snow removal device according to the embodiments ofthe present invention is not required to be personally operated by anoperator when in work, and is not required to be monitored by theoperator all the time either, has automatic working capacity, saveslabor, and can rapidly shovel the accumulated snow after snowing,thereby facilitating the outgoing of people.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a front view of an automatic moving snow removal device in apreferred first embodiment according to the present invention.

FIG. 2 is a top view of the automatic moving snow removal device in FIG.1.

FIG. 3 is a system block diagram of the automatic moving snow removaldevice in FIG. 1.

FIG. 4 is a floating schematic view of a snow throwing working head ofthe automatic moving snow removal device in FIG. 1.

FIG. 5 is a rotating schematic view of a snow throwing pipe of the snowthrowing working head of the automatic moving snow removal device inFIG. 1.

FIG. 6 is a rotating top schematic view of the snow throwing pipe of thesnow throwing working head in FIG. 5.

FIG. 7 is a system block diagram of automatic work implemented by theautomatic moving snow removal device in FIG. 1.

FIG. 8 is a snow removal path diagram of an automatically working snowblower in FIG. 7.

FIG. 9 is another snow removal path diagram of the automatically workingsnow blower in FIG. 7.

FIG. 10 is yet another snow removal path diagram of the automaticallyworking snow blower in FIG. 7.

FIG. 11 is a system block diagram of a snow blower in a preferred secondembodiment according to the present invention.

FIG. 12 is a schematic diagram of a snow removal system formed by aboundary, a dock and the snow blower in FIG. 11.

FIG. 13 is a schematic diagram of the dock in FIG. 12, and at thispoint, the snow blower does not enter the dock.

FIG. 14 is a schematic diagram of the dock in FIG. 12, and at thispoint, the snow blower enters the dock and is jointed by electrodes tobe charged.

FIG. 15 is a schematic diagram of the dock in FIG. 12, and at thispoint, the snow blower enters the dock and is wirelessly charged.

FIG. 16 is a schematic diagram of a solution that the dock in FIG. 12 isprovided with a snow sweeping device.

FIG. 17 is a schematic diagram of another solution that the dock in FIG.12 is provided with a snow sweeping device.

FIG. 18 is a schematic diagram of a first solution that the snow bloweris provided with a snow detection device in the preferred secondembodiment according to the present invention.

FIG. 19 is a schematic diagram of a second solution that the snow bloweris provided with a snow detection device in the preferred secondembodiment according to the present invention.

FIG. 20 is a schematic diagram of a third solution that the snow bloweris provided with a snow detection device in the preferred secondembodiment according to the present invention.

FIG. 21 is a schematic diagram of a fourth solution that the snow bloweris provided with a snow detection device in the preferred secondembodiment according to the present invention.

FIG. 22 is a schematic diagram that the snow blower in FIG. 12 sets aworking area by adopting a navigation location manner.

FIG. 23 is a schematic diagram of the working area of the snow blower inFIG. 22.

FIG. 24 is a schematic diagram of a detachable location navigationdevice adopted by the snow blower in FIG. 12.

FIG. 25 is a system block diagram of a location navigation device of thesnow blower in FIG. 24.

FIG. 26 is a schematic diagram of a house surrounding environment of auser needing snow removal.

FIG. 27 is a schematic diagram of a working area generated according tothe house surrounding environment of FIG. 26.

FIG. 28 is a setting schematic diagram of a specific area in thebuilding surrounding environment of FIG. 26.

FIG. 29 is a schematic diagram of a snow removal path set according tothe working area in FIG. 27.

FIG. 30 is a schematic diagram of a first path of snow throwing when thesnow removal mode of a snow blower is snow throwing in a preferredembodiment according to the present invention.

FIG. 31 is a schematic diagram of a second path of snow throwing whenthe snow removal mode of a snow blower is snow throwing in a preferredembodiment according to the present invention.

FIG. 32 is a schematic diagram of a first path of snow sweeping when thesnow removal mode of a snow blower is snow sweeping in a preferredembodiment according to the present invention.

FIG. 33 is a schematic diagram of a second path of snow sweeping whenthe snow removal mode of a snow blower is snow sweeping in a preferredembodiment according to the present invention.

FIG. 34 is a schematic diagram of a third path of snow sweeping when thesnow removal mode of a snow blower is snow sweeping in a preferredembodiment according to the present invention.

FIG. 35 is a schematic diagram of a first path of snow pushing when thesnow removal mode of a snow blower is snow pushing in a preferredembodiment according to the present invention.

FIG. 36 is a schematic diagram of a second path of snow pushing when thesnow removal mode of a snow blower is snow pushing in a preferredembodiment according to the present invention.

FIG. 37 is a schematic diagram of a third path of snow pushing when thesnow removal mode of a snow blower is snow pushing in a preferredembodiment according to the present invention.

FIG. 38 is a schematic diagram of a state change of a dip angle of asnow blower in a ramp in a preferred embodiment according to the presentinvention.

FIG. 39 is a schematic diagram of a first path that the snow blower isreturned to be charged in the preferred second embodiment according tothe present invention.

FIG. 40 is a schematic diagram of a second path that the snow blower isreturned to be charged in the preferred second embodiment according tothe present invention.

FIG. 41 is a schematic diagram of a grid map of a working area generatedby the snow blower in FIG. 22 in a closed loop border line manner,wherein the map is represented with grids.

FIG. 42 is an operation diagram of the snow blower in FIG. 41 along aborder, wherein the size and parameters of the map are determined insuch manner.

FIG. 43 is an address mapping diagram of a memory unit of the snowblower in FIG. 41, which represents a mapping relationship between mapdata and the memory unit.

FIG. 44 is a principle schematic diagram of a working area generated bythe snow blower in FIG. 22 in an ultra wide band (UWB) manner.

FIG. 45 is a principle schematic diagram when a UWB location system ofthe snow blower in FIG. 22 has two UWB labels.

FIG. 46 is a principle schematic diagram when a UWB location system ofthe snow blower in FIG. 22 has three UWB labels.

FIG. 47 is a principle schematic diagram of distance measuring of thesnow blower in FIG. 22 by the UWB.

FIG. 48 is a schematic diagram of a location principle of a Trilateratealgorithm of UWB distance measuring in FIG. 22.

FIG. 49 is a schematic diagram of a working area map generated by a snowblower in a remote image extraction manner in a preferred thirdembodiment according to the present invention.

FIG. 50 is a schematic diagram of a working area map generated by thesnow blower in FIG. 49.

FIG. 51 is a schematic diagram that a snow blower adopts the bordersetting of a three-dimensional polar coordinate solution of a preferredfourth embodiment according to the present invention.

FIG. 52 is a principle diagram of laser distance measuring and anglemeasuring of the snow blower in FIG. 51 by the three-dimensional polarcoordinate solution.

FIG. 53 is a schematic diagram of a frame image that the snow blower inFIG. 51 tracks features and marks of the snow blower by thethree-dimensional polar coordinate solution.

FIG. 54 is a schematic diagram of a first solution to poor receiving ofa satellite signal of a snow blower in a preferred embodiment accordingto the present invention.

FIG. 55 is a front view that a snow blower is provided with a snowsweeping working head in a preferred embodiment according to the presentinvention.

FIG. 56 is a front view that a snow blower is provided with a snowpushing working head in a preferred embodiment according to the presentinvention.

FIG. 57 is a top view of the snow blower in FIG. 56.

FIG. 58 is a schematic diagram of an automatic recognizing working headof a snow blower in a preferred embodiment according to the presentinvention.

FIG. 59 is a schematic diagram of a thermal insulation solution of ahost of a snow blower in a preferred embodiment according to the presentinvention.

FIG. 60 is a schematic diagram of a thermal insulation solution forimportant modules in a host of a snow blower in a preferred embodimentaccording to the present invention.

FIG. 61 is a schematic diagram of a control method for a self-movingdevice in an embodiment.

FIG. 62 is a schematic diagram of a self-moving device in an embodiment.

FIG. 63 is a processing flowchart of step S106 in the embodiment of FIG.61.

FIG. 64 is another processing flowchart of step S106 in the embodimentof FIG. 61.

FIG. 65 is a processing flowchart after a step of controlling aself-moving device for halting for preset time in the embodiment asshown in FIG. 64.

FIG. 66 is a structural schematic diagram of a control system for aself-moving device in an embodiment.

FIG. 67 is a flow schematic diagram of a snow throwing method in anembodiment.

FIG. 68 is a structural block diagram of a snow throwing system in anembodiment.

In the figures:

Snow blower 100 Snow removal mechanism Snow throwing mechanism 120 140Snow pushing mechanism Host 110 Rolling brush 122 160 Chargeable battery170 Protective cover 124 Damping mechanism 126 Snow scraping componentSnow throwing component Motor 146 142 144 Snow throwing wheel 1442 Snowthrowing cylinder Fault detection sensor 1448 1444 Steering motor 1449Electric heating thermal Dock 500 insulation material 130, 130′ Base 510Outer cover 530 Charging electrode 550 Raised rib 532 Torsional spring512 Carbon crystal floor heating material 514 Wireless charging emittingWireless charging receiving Snow detector 102 device 560 device 106Conductive metal bar 103 Insulation rib plate 104 Container 200 Opticalsensor 202 Humidity sensor 204 Conductive part 105 Location unit 131Memory unit 132 Sending unit 133 Location navigation device Border line320 Ultra wide band label 410 130 Intersection 330 Connecting passage360 Narrow area 350 Signal processing module Snow sweeping device 580A120 Signal receiving module Signal output module A130 Obstacle sensorjudging unit A110 A121 Area judging unit A122 Wind direction obtainingSnow throwing system B100 module B110 Snow throwing direction Snowthrowing direction Angle judging module B130 control module B140detection module B120

DETAILED DESCRIPTION

The automatic moving snow throwing device according to the specificembodiments of the present invention can be an automatic snow sweepingmachine, an automatic snow throwing/lifting machine, an automatic snowpushing/shoveling machine, and combinations thereof, etc. Theyautomatically move on the ground or the surface of a working area forthe ice and snow removal work such as snow sweeping, snow throwing orsnow pushing, and can be considered as snow blowers having an automaticworking capacity. The automatic working capacity here means that whenthe snow blower works for snow removal, the personal operation, all-timeremote control or all-time monitoring of the user is not required, theuser can do other work by only needing to finish related setting, andthe snow blowers automatically execute related programs.

As shown in FIGS. 1 to 10, the preferred embodiment of the automaticmoving snow removal device is an automatic snow throwing machine. Here,the automatic snow throwing machine, the automatic snow sweeping machineand the automatic snow pushing machine as called by a joint name: snowblower. The snow blower for snow throwing comprises a working module, amoving module, an energy module, a control module, a detection module,etc.

The working module is configured to execute specific work of the snowblower and comprises a snow throwing mechanism 140 and a working motordriving the snow throwing mechanism 140 to work, etc., the snow throwingmechanism 140 is a working head mechanism, and of course, the workingmodule further comprises the part such as a snow throwing angleadjusting mechanism to optimize or adjust a snow removal effect.

As shown in FIG. 4, the snow throwing mechanism 140 comprises a snowscraping component 142, a snow throwing component 144 and a motor 146driving the snow scraping component 142 and the snow throwing component144 to work, the snow scraping component 142 can be a spiral snowcollecting wheel, such as an auger, in one embodiment, a speed of theauger is smaller than 100 r/min and in another embodiment, the speed ofthe auger is smaller than 50 r/min, and the snow can be collected moreefficiently. The snow throwing component 144 comprises a snow throwingwheel 1442 and a snow throwing cylinder 1444, the snow throwing wheel1442 can be a centrifugal fan, the snow collecting wheel rotates alongan arrow direction as shown in the figure to collect the snow into acavity body, and the centrifugal fan in the cavity body throws theaccumulated out from the snow throwing cylinder 1444 by using acentrifugal force during high speed rotation. A rotary speed of the snowthrowing wheel is better 1000-1500 r/min, and in one embodiment, therotary speed is 2500-3500 r/min, wherein the snow scraping component 142and the snow throwing component 144 can be driven by the same motor, ordriven by different motors. As shown in the figure, one motor 146 drivesthe front end snow scraping component 142 by a transmission mechanism148 and drives the centrifugal fan to rotate at the same time. Thetransmission mechanism 146 can be a conical gear mechanism, a turbineworm mechanism, etc.

The detection module of the snow blower 100 can comprise two parts, onepart is configured to detect an external environment of the snow blower100, which specifically and possibly comprises one or more of thedistance, the angle and the direction of the snow blower 100 orconfigured to detect the condition of the surrounding environmentcomprising people, animals, moving objects, obstacles, weather condition(rail, snow and the like), etc., when the snow blower 100 works. The onepart comprises various environment sensors, such as a humidity sensor, atemperature sensor, an acceleration sensor and a light ray sensor, andthese sensors can help the snow blower 100 to judge a workingenvironment to execute the corresponding programs. The other part isconfigured to detect internal parameters of the snow blower, such as thedetection on energy and the detection on a moving distance.

During snow throwing, attention should be paid to the safety of snowthrowing to prevent the snow from being thrown onto people and animalsto cause an injury. Therefore, the detection module needs to comprise anobstacle detection device. Referring to FIGS. 5 and 6, in the presentembodiment, a snow outlet position of the snow throwing cylinder 1444 isprovided with an obstacle detection sensor 1448, that is, the obstacledetection sensor 1448 is configured to detect whether the area in thesnow throwing direction has people, animals or other obstacles in realtime. The obstacle detection sensor 1448 can be an ultrasonic sensor, aninfrared sensor, a laser sensor, etc. When the obstacle detection sensor1448 detects the obstacle within a certain range of the snow throwingdirection, the orientation of a snow throwing opening can beautomatically changed, so as to change the snow throwing direction.Specifically, the snow throwing cylinder 1444 rotatably sleeves anoutlet pipe of the snow throwing wheel 1442, a steering motor 1449 isdisposed on one side of the snow throwing cylinder 1444, a pair of gearsis disposed between the steering motor 1449 and the snow throwingcylinder 1444, and the steering motor 1449 drives the snow throwingcylinder 1446 to rotate by the pair of gears. The steering and therotary speed of the steering motor 1449 are controlled by the controlmodule, the control module can control the steering motor 1449 accordingto a signal detected by the obstacle detection sensor 1448, the steeringmotor 1449 can also be controlled based on other conditions, forexample, when the moving direction of the snow blower is changed but thesnow throwing direction is not changed, the control module is requiredto control the steering motor 1449 to drive the snow throwing cylinder1444 to rotate to keep the original snow throwing direction.

Referring to FIGS. 1, 2 and 4, in order to realize the stable support ofthe working head mechanism such as the snow throwing mechanism, theworking head mechanism is provided with rolling wheel devices 162, andin one embodiment, two rolling wheel devices 162 are disposed, which arelocated both sides of the working head mechanism along an advancingdirection of the snow blower 100, when the snow blower 100 moves on theground, the working head mechanism can be supported, and due to thesupport of rolling, the resistance that a host 110 of the snow blower100 drives the working mechanism to advance is reduced, and energy issaved. Besides, since the working head mechanism and the host 110 are inpivoting connection, when the snow blower 100 moves on an uphill ordownhill ramp, the working head mechanism will ascend or descend for anangle in advance relative to the host 110 due to the support of therolling wheel devices 162, and the working head mechanism is preventedfrom being abutted against the ground or being too far away from theground so as to completely clean the accumulated snow.

Referring to FIG. 4, in the present embodiment, the distance of theworking head mechanism relative to the ground is adjustable, that is,the working head mechanism is floatable. When a section in the movingpath of the snow blower 100 needs no snow removal, or only a certainthickness instead of all the snow on the surface needs to cleaned, thesnow blower 100 may be required to span across some obstacles, and inthese situations, the working head mechanism is required to be liftedfrom the ground for certain distance. According to the foregoing factthat the working head mechanism and the host 110 are in pivotingconnection, the host 100 can be provided with a drive motor, the workinghead mechanism is driven by the drive motor to pivot relative to thehost 110, such that the distance of the working head mechanism relativeto the ground can be adjusted. In other some implementable embodiments,the working head mechanism can be disposed to be vertically movablerelative to the host, and similarly, the vertical movement of theworking head can be realized by using the drive motor to drive arotary-linear converting mechanism. The control of the drive motor canbe realized by the control module, i.e., the rotary speed, the steeringand rotating time of the drive motor are controlled by the controlmodule, thereby adjusting the distance of the working head relative tothe ground.

Continuing to refer to FIGS. 1, 2 and 4, the moving module is configuredto drive the snow blower to move on the ground or surface in the workingarea, and the moving module consists of a track moving component 180 andmoving motors 182 driving the track moving component. The track movingcomponent 180 mainly comprises driving wheels 184 and driven wheels 186connected to the moving motors and tracks 188 connected on the drivingwheels and the driven wheels, and two tracks 188 and two correspondingdriving wheels 184 and driven wheels 186 are respectively disposed andare located on both sides of the snow blower. Two moving motors 182 aredisposed and respectively drive the driving wheels 184 on thecorresponding two sides, wherein the driving wheels 184 can be front orback wheels, of course, the amount of the driving wheels is notnecessarily two, each wheel of the multiple driving wheels is controlledby one motor, and in this way, the moving capacity on rainy and snowydays is higher like four-wheel drive of vehicles. In one embodiment, thetracks 188 are rubber tracks, and have the characteristics of largetraction force, small vibration, low noise, good wet land passagecapacity, no damage to the road surface, high sped, small mass and thelike, and the rubber tracks can improve the driving performances of themachinery, expand the range of mechanical operation, and also have theadvantages of flexible steering and high passage capacity on complexterrains and the like. Of course, the moving module can be formed by awheel set mounted on the snow blower and a moving motor driving thewheel set. The wheel set comprises driving wheels connected to themoving motor and an auxiliary wheel mainly playing a role of auxiliarysupporting, two driving wheels are disposed and are located on the backpart of the snow blower, at least one driving wheel is connected to themoving motor, and one or two auxiliary wheels are disposed and arelocated on the back part of the snow blower. Compared with the wheeltype moving, the track type moving has large support area and smallground connection specific pressure, and is suitable for the operationin soft or muddy sites, and is small in sinking degree, small in rollingresistance and better in passage capacity. Besides, the support surfacesof the tracks are provided with track teeth, which are not easy to slipand good in traction attachment property and are favorable for realizinga larger traction force. But compared with the track type moving, thewheel type moving is simple in structure, light in weight, small inmotion inertia, good in buffering effect, wear-resistant, low in cost,long in service life and better in maneuvering characteristics. Ofcourse, the moving module can be combined by the track moving system andthe wheel system, that is, the front end of the snow blower is providedwith the track system, which can grip the ground uphill and downhill,prevent slippage and the like, and the back end is provided with thewheel system, which can reduce the weight and improve the maneuveringcharacteristics. In order to obtain better sweeping quality, in oneembodiment, the moving speed of the moving module is smaller than 70m/min, in another embodiment the moving speed is 15-30 m/min.

The above working module and moving module are driven by differentmotors, these motors are powered by the energy module, the two drivingwheels 184 of the moving module are respectively connected to one movingmotor independently, and the two moving motors are controlled to rotateat the same speed in the same direction or rotate at different speeds orrotate in different directions, the snow throwing machine movesstraightly or is steered. Or for the moving module, the two drivingwheels are driven by one moving motor, while the support wheel iscontrolled by the other steering motor to realize steering. By usingmultiple motors, the respective systems can be controlled independently,and the structure of the transmission system is simplified. In oneembodiment, the above motors are electric motors. Of course, accordingto the difference of provided energy, a pneumatic motor, a hydraulicmotor, an engine and the like can be alternately used, and thecombination with electric motors can also be used.

The energy module is configured to provide energy for various work ofthe snow throwing machine, such as electric energy, hydraulic power,gasoline, diesel, natural gas, etc., the energy module can only provideenergy for the moving module, for example, during snow pushing, theworking head is not required to be driven by the motor, the energymodule can also only provide energy for both the moving module and theworking module, while the control module is powered by an independentbattery, etc. In one embodiment, the energy module of the presentembodiments comprise a chargeable battery 170 and a charging connectingstructure, and the charging connecting structure is usually a chargingelectrode plate capable of being exposed out of the snow blower. In oneembodiment, the chargeable battery 170 is a lithium battery, and ofcourse, if wirelessly charged, the charging connecting can also be awireless charging receiving device. In addition, the energy module canalso be a photovoltaic battery, that is, be charged by a solar cell.Therefore, the energy supply of respective modules has multiple choices,for example, the moving module and/or the working module with largeenergy consumption is powered by the energy such as the gasoline, dieseland natural gas, while the energy of the control module is provided byadopting the battery (comprising a one-shot battery, the chargeablebattery, the photovoltaic battery, etc.). According to the workingcondition and energy consumption of the snow blower, the total powerused by the working module and the moving module is between 200-3000 W,and of course for the complex working conditions or the working inlarger areas, the total power can be higher, for example 5000 W.

The control module is configured to control the automatic moving andworking of the snow throwing machine, is a core part of the snowthrowing machine, and executes the functions comprising controlling theworking module to start to work or be stopped, generating the movingpath and controlling the moving module to move along the moving path,judging electric quantity of the energy module and timely instructingthe snow throwing machine to return for charging and the like. Thecontrol module usually comprises a controller, a memory and otherperipheral circuits. The controller can execute a hardware instruction,for example, executes program instructions stored in a readable memorymedium (a disk or memory, etc.) of the processor by a universal orspecial processor. The controller reads the instructions from the memoryand executes these instructions to control the operation of the snowblower. The controller can use any usable processor, and the commonprocessor can be, for example, a singlechip, a digital signal processor(DSP), an advanced RISC machines (ARM) processor, a programmable logiccircuit (PLC), etc. The memory can be implemented by any commontechnologies, such as a computer read only memory (ROM), a random accessmemory (ROM), a static RAM (SRAM), a dynamic RAM (DRAM), a FLASH and adouble data rate (DDR) synchronous dynamic random-access memory (SDRAM),or some other memory technologies. The control module is provided withalgorithms for executing work according to various pieces of informationand working conditions, or computer programs, and these algorithms orprograms are executed to control the operation of the snow throwingmachine.

Except the above modules, the snow blower further comprises a housingfor containing and mounting respective modules, and an input module fora user to input certain set information, for example, an operationpanel, or a remote control device for remotely inputting set information(for example, a mobile phone, an IPAD, a laptop, a remote control,etc.,), i.e., a man-machine interaction module and the like.

The snow blower 100 according to the present embodiment canautomatically perform snow removal work in the working area, and itsworking path cannot be random. Therefore, the moving path of the snowblower must be planned, and such planning can be realized in twomanners, one manner is a man-machine control manner, for example, remotecontrol operation, setting on the operation panel, etc. As shown in FIG.7, the system of the snow blower 100 comprises a working module, amoving module, an energy module, a control module, a detection moduleand a man-machine interaction module, wherein the man-machineinteraction module has a communication unit, and can receive a controlsignal sent by an intelligent device such as a remote control, aSMARTPHONE and an IPAD, these control signals are transmitted to thecontroller of the snow blower, and the controller can control the snowblower to advance, withdraw, steer, etc. In addition, the snow blower100 can be provided with a camera, such that the remote control can berealized by the user indoors. If the camera is not mounted, the remotecontrol can be realized by the user through direct observation. Theabove snow blower in the remote control manner does not need thedetection module, and such manner is relatively simple, but needsall-time operation of the user.

The preferable man-machine control manner in the present embodiment isthat the user remotely controls the snow blower 100 to advance to astart point of the working area, and then causes the snow blower 100 toautomatically move and work by certain settings. These settings can bethe setting of specific data such as a moving direction, a movingdistance and a moving manner of the snow blower 100, and can also be thesetting that the snow blower sweeps the snow according to a fixed shape,for example, a rectangle, a circle or other shapes, the snow blowerautomatically works according to the set graphic shape, and the like.For the snow blower with such automatic working manner, the detectionmodule at least comprises a direction detection device, for example, thesensor indicating the direction, such as an electronic compass orgyroscope, in this way, the user can set an advancing direction of thesnow throwing machine and cause the snow throwing machine to move on astraight line. The control module can set the start point position wherethe snow throwing machine begins to work as an original point togenerate a border coordinate map according to the information (such asthe length and width sizes) of the regular working area input by theinput module, and the control module controls the snow throwing machineto regularly move and work within a border of the working area by usingthe direction detection device according to the border coordinate map.Specifically, as shown in FIGS. 8 and 9, the user manually inputs a snowremoval area for example 4 m×10 m by the input module for example aremote control device or a built-in operation panel of the snow throwingmachine, remotely controls the snow blower to advance to the start pointor manually pushes the snow blower to the start point, and sets theposition of the snow blower as the coordinate original point, thecontroller generates at least two snow removal paths according to thealgorithms or programs stored in the control module and according to thedata input by the user, one snow removal path is as shown in FIG. 8 andis the snow removal path of reciprocating along the length direction ofa road, the other snow removal path is as shown in FIG. 9 and is thesnow removal path toward one direction along the length direction of theroad. The advancing times for snow removal can be automaticallygenerated according to a width of the working head, for example, if thewidth of the working head is 0.5 m and the set snow removal area is 4 mwide, then the controller calculates that the advancing of at least 8times is required. The user can select of the snow removal paths, andcan also directly start the snow blower for working, that is, adopts thesnow removal path of system default. By a direction indicating sensor,the detected direction data are transmitted to the control module, andthe control module compares the received direction data with theselected snow removal path direction data, and controls the movingdirection to adjust the moving direction when the two pieces of data areinconsistent, such that the snow throwing machine can move along thestraight line. The controller can also calculate the moving distance ofthe snow throwing machine according to the rotary speed and the movingtime of the driving wheels of the moving module, and controls the snowthrowing machine to steer once the preset distance is reached, in oneembodiment, the moving circle number N of the driving wheels and aperimeter L of the driving wheels are detected, and the moving distanceis obtained by multiplying N by L. The moving distance of the snowthrowing machine can be also be realized by setting a speedometer. Thesnow blower is returned back to the start point after the snow removalis finished, and the user can set another area for snow removal.

The above man-machine controlled semiautomatic snow removal mode issuitable for the conditions of relatively simple working areas andregular roads, the semiautomatic path can be set to be reciprocating ormoving in the same direction, the moving in the same direction isintended to pile the snow to one side, while the reciprocating isintended to pile the snow to two sides, and after the working isfinished, the snow blower can be returned back to the start point ordirectly stops. In addition, the user can set the direction of a fixedstart point, so as to avoid the deviated moving caused by directiondeviation after the snow blower is remotely controlled by the user toreturn back to the start point. After the path is well set, the controlmodule will control an advancing direction of the snow blower accordingto the direction detection sensor, and calculates the advancingdistance, in this way, no artificial operation is required in theworking process of the snow blower. The above setting can also berealized without the intelligent device such as the remote control, theSMARTPHONE and the IPAD, for example, the snow blower is provided withthe operation panel per se, and the corresponding settings can befinished on the operation panel.

FIG. 10 shows a relatively complex working condition, the working areacomprises three parts extending to three directions, when the snowremoval area is set, the setting can be performed respectively accordingto the above method, that is, after the working of one area is finished,the another area is set, of course, there are more preferable solutions.Specifically, the working area can be divided into three regular areas:OABCDO, OCEFO and ODGHO, wherein the intersection point O of the bordersor the extending directions of the borders of the three areas is set asthe base point, i.e., the original point, by using the snow sweepingpath solution that the regular area uses the direction sensor and aregular parallel line mentioned in the above method, multiple areas canbe set once, the snow blower is returned back to the original O afterone area is completely swept, and sweeps another area after correction.

The two above manners can be both considered as linear path manners ofinertia guide navigation, and in such embodiment, the detection modulefurther comprises an energy detection unit, the energy detection unit isconfigured to detect an energy value of the energy module and feeds theenergy value information back to the control module, when the energyvalue detected by the detection module reaches or is lower than thepreset value, the control module starts alarm for reminding, and thereare many alarm reminding manners, for example, the snow blower sends analarm sound per se, the controller sends an alarm signal to the remotecontrol device, etc.

FIGS. 11 to 40 show a preferred second embodiment of the presentinvention, and the present embodiment still takes the snow blowercapable of automatically throwing snow as an example for explanation.

The snow blower capable of automatically throwing snow comprises aworking module, a moving module, an energy module, a control module, adetection module, a location module, and the like. Wherein the workingmodule, the moving module, the energy module, the control module and thedetection module are same parts as the foregoing embodiment and are notrepeated here. The difference from the foregoing embodiment is that thesnow full automatic snow removal work of the snow blower is realized ina location navigation manner.

The snow blower is not always capable of or required for working in anyplaces, and its working area has a boundary. In addition, when theelectric quantity of the energy module of the snow blower isinsufficient, it is required to be supplied with electric energy in afixed place and required to be parked in a place when not in work, thatis, a dock. The snow blower 100, a boundary 300 and the dock 500 form anautomatic snow removal working system, wherein the boundary 300 isconfigured to limit the working area of the snow blower, the snow blowercan move and work within or between the boundaries, and the dock 500 isconfigured to park the snow blower, and configured for the snow blowerto return back for energy supplement when the energy is insufficient.

The boundary is the joint name of a border and obstacles. The border isthe periphery of the whole working area, and is usually connected end toend to close the working area, the border can be tangible or electronic,that is, the border can be a tangible border formed by a wall, a fenceand handrails, or the border is a virtual border described on anelectronic map or a border formed by the connecting line of N coordinatepoints, or a virtual border signal such as an electromagnetic signal oroptical signal can be sent by a border signal generating device. Theobstacles are the parts or areas where the moving cannot be realizedwithin the working area, for example, indoor sofas and bedside tables oroutdoor ponds and flower-stands, similarly, the obstacles can be alsotangible or electronic, the tangible obstacles can be formed by theaforesaid obstacles per se, and the electronic obstacles can be formedby virtual obstacle signals sent by the border signal generating device.The virtual border signals and the virtual obstacle signals can be thesame or different signals, and are selected according to specific needs.

Therefore, the detection module of the snow blower 100 further comprisesa boundary detection unit for detecting a relative position relationbetween the snow blower 100 and the boundary 300, which specifically andpossibly comprises one or more of the distance, the angle, and thedirection inside and outside the boundary. There are multiple principlesfor the boundary detection unit, for example, an infrared manner, anultrasonic manner, a collision detection manner, a magnetic inductionmanner, etc., and the disposing positions and the amount of the sensorsthereof and the corresponding signal generating devices are alsomultiple, are related to the path planning manners, and are thusspecifically explained in combination with specific embodiments and pathplanning manners in the following.

Referring to FIGS. 12 to 14, the dock 500 is usually located on the edgeof a working range, is often located aside or on the boundary 300, andis connected to mains supply or other electric energy supply systems forthe snow throwing machine to return for charging. In the presentembodiment, in one embodiment, the dock 500 comprises a base 510 and anouter cover 530 movably disposed on the base, the base 510 of the dock500 is provided with a charging electrode 550, configured to beconnected to the corresponding electrode of the snow blower 100. Whenthe snow blower 100 does not enter the dock 500, the outer cover 530 isopen, and when the snow blower 100 enters the dock 500, the outer cover530 is automatically closed to close the snow blower 100 within the dock500. By the position conversion of the outer cover 530, a closed spacecan be formed after the snow blower 100 enters the dock 500, the snowblower is convenient to store when the snow blower 100 is not requiredto work, meanwhile, the snow blower 100 is isolated from the outside lowtemperature environment, and the charging and heat preservation of thesnow blower 100 in the dock 500 are facilitated. In order toautomatically close the outer cover 530, the base 510 is provided withan abutting mechanism for abutting against the outer cover 530 to aposition where the outer cover 530 is open, raised ribs 532 are fixedlydisposed on the outer cover 530, the abutting mechanism is a torsionalspring 512, In one embodiment, one end of the torsional spring 512 isfixed on the base 510 and the other end is abutted against the raisedribs 532 of the outer cover 530, when the snow blower 100 enters thedock 500, the snow blower 100 will abut against the raised ribs 532, andwith the moving of the snow blower 100, the outer cover 530 is driven bythe raised ribs 532 to overcome the force of the torsional spring 512 torotate to the closed position. By disposing the above abuttingmechanism, the outer cover 530 can be automatically closed along withthe entrance of the snow blower, the structure is simple and the cost islow. Of course, the outer cover 530 can also be automatically opened andclosed in an electrical control manner, for example, induction automaticdoors (infrared induction, microwave induction, touch induction andpedal induction), and the automatic doors controlled by various signalsto be automatically started and closed.

In order keep a reasonable temperature in the dock 500 and facilitatecharging and storage of the snow blower 100, a heating system can bedisposed in the dock 500, a heating thermal insulation material can bearranged on the outside wall, the outer cover 530 or the bottom of thedock 500, or an air heater or an electric heating device such as anelectric furnace and an electric heater can be disposed in the dock 500.In the present embodiment, in one embodiment, a carbon crystal floorheating material 514 is embedded into the bottom of the dock 500, andcan play a role of rapidly raising the temperature of an object, and100% of the electric energy input is effectively converted into morethan 60% of conducting heat energy and more than 30% of infraredradiation energy. Due to such double-heating principle, for the heatedobject, firstly the temperature rise is faster, and secondly, theabsorbed heat energy is more sufficient. In another preferred solution,a bottom plate of the dock is provided with an electric heating wire, orelectric heating plate and temperature controller, internal constanttemperature is realized by the temperature controller, and the heat canbe effectively preserved by the thermal insulation material on the outercover.

As shown in FIG. 15, the charging manner of the snow blower 100 iswireless charging, the dock 500 can be provided with a wireless chargingemitting device 560, and correspondingly, the snow blower 100 isprovided with a wireless charging receiving device 106. Specifically,the bottom plate of the dock 500 is provided with a wireless chargingemitting plate, correspondingly, the snow blower 100 is provided with awireless charging receiving plate, the energy is transferred between thetwo by a magnetic field, and thus no wire connection is required, thedock 500 and the snow blower 100 can realize no exposure of conductivecontacts, that is, no design of electrified contacts, the danger ofelectric shock is avoided, and therefore, the mechanical wearing duringconnection and separation and the loss caused by arcing are alsoavoided. In addition, no power transmitting elements are exposed, andcorrosion by water content and oxygen and the like in air is avoided.Besides, if the snow blower 100 is automatically charged and jointed,the connection is much easier compared with the snow blower with theelectrodes.

As shown in FIGS. 16 and 17, in the present embodiment, in oneembodiment, the dock 500 is further provided with a snow sweeping device580, configured to clean accumulated snow on the snow blower 100 whenthe snow blower 100 enters the dock 500. Specifically, a snow sweepingbrush is disposed on the edge of the outer cover 530 of the dock 500,and the snow sweeping brush can be controlled to rotate or be triggeredby an external force to rotate. The snow sweeping brush is constructedas a rolling brush form. A rotary shaft of the rolling brush isapproximately parallel with the ground, and a material of the rollingbrush can be a soft material such as plastic, nylon and wool fabric. Therotation of the rolling brush can be automatically controlled, forexample, the dock 500 starts the rolling brush to rotate once receivingthe signal that the snow blower 100 is returned back for charging, orstarts the rolling brush to rotate while the outer cover detects thesnow blower and is opened for entrance of the same, or starts therolling brush to rotate under the touch that the snow blower enters thedock, etc. In addition, the snow sweeping brush can also be constructedinto a row brush form disposed along the edge of the outer cover 530. Asthe snow blower 100 moves to enter the dock 500, the row brush sweepsthe top cover of the snow blower 100 to clean the accumulated snow onthe top cover. Of course, the snow sweeping brush can also be multiplerotating brushes distributed on the edge of the outer cover 530, therotary axis approximately forms an angle with the ground, and in thisway, the accumulated snow on the top cover can also be cleaned when thesnow blower 100 enters the dock 500. In addition, the snow blower 100can also have the function of cleaning the accumulated snow on the topper se, for example, the top cover is inclined for an angle per se, thetop cover can be disposed to regularly shake or to shake once detectingthe accumulated snow, and a snow scraper, a hairbrush and the like canalso be disposed on the top cover.

According to the location navigation manner in the present embodiment,the coordinates of the snow blower can be obtained in real time by asatellite location manner, and the snow removal path is navigatedaccording to the coordinates. The satellite location manner controls thesnow blower to work relative to the man-machine control manner, the costis slightly high, but the degree of automation is higher, and both ofthem have the advantages and the disadvantages.

Because the snow blower 100 needs to work during snowing or when thereis accumulated snow, in order to realize the snow removal work of thefull automatic mode, whether it snows and the snowfall need to bedetected at first.

There are many solutions for detecting whether it snows and the snowthickness, the preferred first solution is as shown in FIG. 18, a snowdetector 102 is mounted on the top of the host of the snow blower, inone embodiment, the snow detection 102 is pressure and humidity sensors,the sensors are better disposed in the highest position of the host 110,the pressure sensor is changed when there is accumulated snow, meanwhilethe humidity sensor will detect the humidity change, the sensors feedthe detected signals back to the control module, the control modulejudges whether it snows according to the signals, and calculates thesnow thickness if it snows, and the snow blower 100 is controlled tobegin to work when the snow thickness reaches a preset value. Thepreferred second solution is as shown in FIG. 19, two conductive metalbars 103 are mounted on the top of the host of the snow blower 100, aninsulating rib plate 104 is mounted between the two conductive metalbars 103, the height of the insulting rib plate 104 is higher than theheights of the two conductive metal bars 103, when the height of theaccumulated snow is higher than the height of the insulating rib plate104, according to the principle of snow conduction, the two conductivemetal bars 103 are switched on, a switching on signal is transmitted tothe control module, the control module then judges that there is theaccumulated snow, and the snow blower is controlled to begin to work.The height H of the insulating rib plate 104 is the minimal snowthickness for triggering the snow blower 100 to begin to work. Thepreferred third solution is as shown in FIG. 20, a container 200 isprovided and is provided with an optical sensor 202 and a humiditysensor 204 on the bottom, the container 200 is placed on the top of thehost of the snow blower 100 or the dock 500, when the snow reachescertain thickness, and the optical sensor 202 cannot detect light whilethe humidity is changed, snow coverage is judged, and then the controlmodule controls the snow blower 100 to begin to work. As shown in thefigure, a preferred fourth solution is used for detecting the snowthickness. As shown in FIG. 21, three conductive parts 105 are disposedon the lower side of the host of the snow blower 100, when the firstconductive part in the lowest position detects the signal, the snowthickness is H1, and the snow is set to be thin snow; when the secondconductive part in the middle detects the signal, the snow thickness isH2, and the snow is set to be moderate snow; and when the thirdconductive part in the uppermost position detects the signal, the snowthickness is H3, and the snow is set to be heavy snow. The foregoing isthe manner of detection by the sensors, of course, whether it snows canalso be known by other manners, for example, a weather communicationunit receiving weather information in real time is disposed on the snowblower, the weather communication unit transmits the received weathersignal to the control module, the control module judges whether it snowsand the snowfall according to the received signal, and calculates thesnow thickness according to the snowing duration. There are some othermanners, for example, when the snow passes by an interval, detection canbe realized by sight glass, ultrasonic waves, infrared scanning sensors,etc., and the control module controls the snow blower to begin to workafter certain time. Beyond that, there are many other ways for detectingwhether it snows and the snow thickness, for example, the snow thicknesscan also be measured by camera image recognition, ultrasonic waves,etc., which are not repeated here.

The full automatic snow removal mode of the snow blower by the locationnavigation manner will be explained in detail below. In the presentembodiment, the location navigation module can be a DGPS (differentialGPS) location module, a GPS location module, a Beidou location module ora differential Beidou location module. In order to ensure the locationprecision, the DGPS location module and the differential Beidou locationmodule can be adopted. Wherein the DGPS is the system developed in orderto improve the precision of code location of the GPS, and adopts arelative location principle to eliminate most of common errors of twodifferent observation points with a differential manner to obtain thehigher precision, thereby obtaining more precise path navigation, andthe precision can reach the centimeter level. In addition, the locationnavigation module can also obtain the position of the snow blower in theadvancing process by other manners, for example, an ultra wide bandtechnology.

The working flow of the snow blower comprises boundary setting, settingof various specific scenarios, path planning, returning to the chargingstation, charging manner, and the like and further comprises solutionsto the problems in the working flow.

A: Boundary Setting

In the preferred implementing solution, the working area of the snowblower is set in a DGPS manner.

As shown in FIGS. 22-25, when a border line 320 of the snow blower isgenerated, usually, the snow blower is controlled by manpower to movealong the predetermined border line, the snow blower and the locationnavigation system are integrally mounted generally, and the locationnavigation system is non-removable. The location navigation systemreceives a location signal of the base station, the continuouscoordinate points when the snow blower moves along the border line 320can be obtained, and these coordinate points are connected into a line,i.e., the border line 320. Since the location navigation system isnon-removable, in order to obtain the coordinate points of the borderline, the snow blower must be moved per se, then the coordinate pointsof the border line can be obtained, but it obviously has the technicalproblems that the snow blower is heavier and larger, inflexible to moveand hard to operate and control.

The location navigation module can be constructed as a locationnavigation device 130 detached from the snow blower, meanwhile, thelocation navigation device 130 can also be remounted to the snow blower100, that is, the location navigation device 130 is detachably mountedon the snow blower. By the present embodiment, the coordinate points ofthe preset border line can be obtained by the location navigation device130 only, thereby generating the border line.

The location navigation device 130 comprises a location unit 131, amemory unit 132 and a sending unit 133.

The location unit 131 is configured to obtain the coordinate data whenthe location navigation device 130 moves along the preset border line.The location navigation device 130 detached from the host 110 of thesnow blower is small in size and light in weight, and can be easilycarried and moved artificially. Therefore, the location navigationdevice 130 can be carried artificially to move along the preset borderline 320, so as to obtain the coordinate points of the preset borderline, the coordinate points are continuous coordinate points, and thesecontinuous coordinate points are connected into the line, that is, thefinal border line of the snow blower, in other words, a map of theworking area, as shown in FIG. 23.

The memory unit 132 is configured to store the location coordinate dataof the location unit. The coordinate points obtained by the locationunit 131 need to be stored in time, and for this, the locationnavigation device 130 needs to be provided with the memory unit 132 toprevent data loss.

The sending unit 133 is configured to send the coordinate data stored bythe memory module to the outside. The sending unit 133 can send thecoordinate data of the border line to the outside timely, for example,to the snow blower. The sending unit 133 can be a wireless sending unit,and can also be a wired sending unit capable of being connected to adata transmission interface (comprising a USB interface, etc.) in thesnow blower.

The above location navigation device can be freely detached or mountedin the snow blower, and when the working border line of the snow blowerneeds to be generated, only the location navigation device needs to bedetached from the snow blower, then the border line can be generatedsimply by the location navigation device, and the generation of theborder line is facilitated.

Since the location navigation device 130 can be freely detached from ormounted into the snow blower, in order to ensure connection steadinesswhen the location navigation device is mounted into the snow blower, thelocation navigation device 130 can be provided with an interface unitfor fixedly mounting the location navigation device in the snow blower.Wherein the interface unit can be a socket or slot, and can be mountedinto the snow blower.

In order for convenient power supply, the location navigation device 130further comprises a battery, configured to provide a power source forthe location navigation device. The battery can be charged singly, andcan also be charged by the snow blower after the location navigationdevice 130 is mounted in the snow blower.

The snow blower 100 in the present embodiment comprises the abovelocation navigation device 130, and the control module thereof alsocomprises a receiving unit, configured to create connection with thesending unit 133 to receive the coordinate data sent by the sending unit133. The receiving unit can be a wireless receiving unit and can also bea wired receiving unit corresponding to the sending unit 133.

The memory of the snow blower is configured to store the coordinatereceived by the receiving module. When the navigation device 130 ismounted into the snow blower 110, the memory unit 132 in the navigationdevice 130 has stored the coordinate data of the border line, since thedata are the data stored already, after the location navigation device130 is mounted in the snow blower 110, the receiving unit can directlystore the coordinate data read by the sending unit 133 from the memoryunit 132 into the memory of the snow blower 110, so as to be convenientfor the snow blower 110 to recognize the border line.

When the snow blower moves, whether the snow blower moves within theborder line 320 needs to be detected in real time, for this, the controlmodule of the snow blower also comprises a detection control unit, whichis configured to detect whether the coordinate data of the border line320 stored by the memory are coincided with the coordinate data of thesnow blower stored by the memory, and control the snow blower to movewithin the border line 320 when consistent. When the coordinate data ofthe snow blower and the coordinate data of the border line 320 arecoincided, it is stated that the snow blower has spanned or is about tospan across the border line 320, and a moving direction of the snowblower needs to be controlled in time. For this, the detection controlunit comprises a detection unit and a moving control unit, and thedetection unit is configured to detect whether the coordinate data ofthe border line 320 stored by the memory are coincided with thecoordinate data of the snow blower stored by the memory. The movingcontrol unit is configured to control the snow blower to move within theborder line when the coordinate data of the border line 320 stored bythe memory are coincided with the coordinate data of the snow blowerstored by the memory.

By the above solution, the creation and storage of the map of the snowblower can be finished, thereby realizing the automatic navigationlocation of the snow blower, the controller calculates the border dataof the map according to the coordinate data of the border line stored inthe navigation device, and generates map data, the snow blower can besubjected to path planning according to the map, when the snow blowerdetects insufficient voltage or finishes once snow removal work, thesnow blower will automatically store the current coordinates andnavigation direction, and return back to the dock 500 for charging,after the charging is finished, the coordinates and navigation directionrecorded last time are read, and the snow blower automatically plans theoptimal path to reach the coordinate position and then continues towork.

In addition, the above detachable location navigation device 130 canalso be universal with other automatic moving devices, for example, anautomatic mower, an automatic sweeper, etc., thereby improving the userate of the location navigation device and reducing a purchase cost ofthe user.

The location navigation adopted to set the working area of the snowblower is not limited to the above manner, the snow lower can also beprovided with the location navigation module per se, the positioncoordinate data of real time location of the location navigation moduleare stored in the memory of the snow blower, the controller calculatesthe data of the map border according to the coordinate data of theborder line stored in the memory, and generates map data, and then thesnow blower can be subjected to path planning according to the map.

After the user generates the working map, the user can set some specialscenarios by the mobile phone and the remote control or on the operationpanel of the machine directly, to help the snow blower for division ofthe working path and the working area and selection of a working mode,which is explained in detail in the following.

B: Intersection Setting

The intersection here means the intersection connecting the sidewalk orlane with a municipal road, due to the reasons of limitation of theworking border per se, the size of the snow blower per se, thenavigation precision, etc., the snow blower possibly moves to themunicipal road, and thus generates some dangers, for example, the snowblower is knocked down by vehicles driven at high speed, is crashed orcauses damage to the vehicles or injury to people in the vehicles, inorder to avoid these conditions, several solutions are provided below.

FIG. 26 shows a schematic diagram of a house surrounding environment ofthe user of snow removal, the user sets a mark on the intersection 330on the map, for example, the shadow area in FIG. 28, the size of thearea along the sideway or an extending direction of the lane can bepreset according to the sizes of the snow blower and the working head ofthe snow blower, or preset according to navigation errors, then the partof area is filled completely on the map of the working area, that is,the area is not required to be swept by default, and can be manuallycleaned by the user, thereby preventing the snow blower from moving tothe municipal road.

In addition, the part of area can be artificially excluded outside thesnow removal area when the border is set, that is, the nonworking area,and then the snow blower is prevented from moving to the municipal road.

Beyond this, camera scanning can also be used, the intersection is sweptif no vehicles are driven in a set distance, or sound-light alarm isstarted to warn the passing vehicles if the snow blower moves to themunicipal road.

C: Lawn Setting

In general cases, the lawn needs no snow removal, and the user usuallyaccumulates the swept snow on the lawn. The lawn is mostly distributedbetween the roads, after the map is generated according to the severalaforesaid manners, the user can mark some areas on the map as the lawn,in the areas marked as the lawn, the user can select whether such theareas needs the snow removal or not, if the snow removal is not needed,then the machine can directly pass by the areas or the machine not moveon the lawn, and if the snow removal is needed, then the snow removalmode or snow removal height can be set to avoid the damage to the lawn.

D: Setting of Passages Not Connected to Multiple Areas

When there are two or more areas needing the snow removal, or thefinally generated map of the user has two or more snow removal areas,the user can set a passage from one snow removal area to another snowremoval area, in general cases, the user is suggested to set the passageon the lawn, for example, the area as shown by a virtual line in FIG. 27is the connecting passage 360 of two snow removal areas, since whetherthe grass area needs the snow removal or not or the snow removal modeand the snow removal height have been set, extra setting is not requiredhere. Of course, if the user does not set earlier, the user can furtherset whether the path needs the snow removal or not here. The snow blowercan pass by one snow removal area to reach another snow removal area. Ofcourse, the municipal rod can also be selected as the passage,correspondingly, the moving path from one intersection to anotherintersection needs to be set, for example, the snow blower moves alongthe border of the municipal road, and performs light-sound alarm to gainthe attention of pedestrians and passing vehicles, and compared with thepassage in the lawn, the municipal road as the passage is a secondarymanner.

A preset minimal size is set for the size of the connecting passage 360,after the user sets the approximate passage path, the snow blower willautomatically calculate and supplements the path to the minimal size forpassing, and here, the minimal size can be set according to the size ofthe snow blower per se or the size of the working head. In addition, thepassage can also be set in a two-point one-line manner, that is, a startpoint and an entrance point from one snow removal area to another snowremoval are set, and the controller automatically calculates the linearpath between the two points (shortest path).

E: Island Setting

When closed areas such as a flower bed and a pool exist in the snowremoval area of the user, such part of areas need no snow removal, andare called as islands here, and on the map of the user, they can be setinto the islands. The specific manner is that the user directly sets anarea island on the map, such manner has relatively large error and issuitable for the situation that the island is higher than the ground,and some collision sensors (for example, the ultrasonic sensor, radardetection, cameras, etc.) can be combined to detect a border of theisland, thereby preventing the snow blower from being damaged or thedevices of the island from being damaged.

In one embodiment, a more precise manner is that when the working areais set, the user holds the location navigation device 130 to move for acircle around the island, and such area is defined as the island i.e.,the non-snow removal area after the map is generated.

Of course, the map generating manner will be different if the islandsetting manner is different, but the basic principle thereof is similar,or exclusion is performed when the working area is set or is performedon the generated map, no matter what kind of manner, the areas can bedefined on the map, such that the snow blower selects whether to work orthe working mode according to the defined areas.

F: Narrow Passage Setting

In the map of the user, some paths are relatively narrow and are smallerthan the minimal passing size of the snow blower, such paths are definedas the narrow passages 350. For the narrow passages, after the initialmap is generated, the controller of the snow blower will automaticallycalculates the narrow passages and reminds the user, the user manuallysets whether the narrow paths need the snow removal or not, andgenerally if the snow removal is required, the user needs to guaranteethat the passages have enough sizes for the snow blower to pass by, andif no working is required, then the user can set no working in suchareas.

G: Setting of Working State Alarm Lamp

The snow blower is provided with an alarm lamp, and pedestrians and theuser can be warned and reminded in a full bright or flickering manner.Specifically, the user can mark the alarm area or set the alarm time onthe map, and the controller in the snow blower can alarm according tothe setting of the user after the snow blower reaches the set area andthe set time is reached or the set requirements are met at the sametime.

H: Setting of Special Scenarios

There are three snow removal manners usually, snow sweeping, snowpushing and snow throwing. The setting of special scenarios here refersto that if the snow removal manner is the snow sweeping or pushing, thena snow piling point needs to be set; and if the snow removal manner issnow throwing, then a snow throwing direction needs to be set.

The snow sweeping is to clean the snow to the front of the snow blowerby a rotating rolling brush, the snow pushing is to push the snow to thefront of the snow blower, therefore, during snow pushing, the snow infront of the snow blower will be thicker and thicker, in order toprevent such case, the snow blower can be set to push the snow to a setposition, i.e., the snow piling point, every time the snow blower pushesthe snow for a certain distance. The snow throwing is to roll the snowinto the snow blower by an auger and then throw out by a snow throwingcylinder, and the case that the snow is thrown to neighbor's home or themunicipal facilities such as a mailbox is not allowed, then the snowthrowing direction needs to be set.

As shown in FIG. 29, during setting, if the snow removal manner is snowsweeping or snow pushing, whether the user needs to set the snow pilingpoint personally will be automatically reminded by the system, if yes,the user needs to set one or more snow piling points, then the snowblower will calculate the path according to a snow sweeping or snowpushing area, and if the snow piling points are too less, then user isreminded of increasing the snow piling points. If the user selects noneed of setting, then the controller will calculate the path accordingto the snow sweeping or snow pushing area and automatically plans thesnow piling points.

If the snow removal manner is snow throwing, the user needs to set thesnow throwing direction, or set the snow throwing area, and thecontroller automatically calculates the snow throwing directionaccording to the snow throwing area. After the snow throwing directionis set, the path of the snow blower will be optimized according to thesetting of the snow throwing direction, such that the snow blower willthrow the snow to the set direction or area. If the user does set thesnow throwing direction, the snow can be thrown to any direction bydefault, and the snow removal path will be re-optimized.

I: Working Mode Setting

The user can form different marks on the map according to the areas, forexample, a motorway, a sideway, etc., different marks have differentworking modes, for example, the snow throwing is performed on the pathsmarked as the motorway, and the snow pushing or snow sweeping isperformed on the sideway, or a thick snow removal mode is performed onthe motorway and a thin snow removal mode is performed on the sideway;or the user can set the snow throwing or snow pushing mode.

All above setting can be performed on the operation panel of the snowblower, or can be remotely operated on mobile devices such as the mobilephone and a computer, and then operation is performed by the remotecontrol of the snow blower per se. The communication manner between acontrol end and a terminal of the remote control operation can be WIFIcommunication, Bluetooth communication, Zigbee communication,radiofrequency communication, etc., or the communication between thecontrol end and the terminal can be realized based on a cellularnetwork.

After all settings are finished, the snow blower can be started to work.Next, the path planning when the snow blower is in work is explained indetail.

If the snow removal manner is different, then the moving path executedby the snow blower is also different to some extent. Specifically, whenthe snow removal manner is snow throwing, the snow throwing path isgenerally parallel with an extending direction of the road, and the snowblower moves along an S path and throws the snow out by a snow throwingcylinder. The controller in the snow blower can control the snowthrowing cylinder to rotate, which can at least rotate for 360 degrees.In the snow throwing path, if the snow throwing direction is defined,that is, the snow throwing surface as shown in FIG. 30, then the snowthrowing cylinder will rotate according to the moving path of the snowblower, such that a snow throwing opening of the snow throwing cylinderalways throws the snow to the snow throwing surface. When the user doesnot define the snow throwing surface, then it is considered that thesnow can be thrown to both sides of the road, and the snow throwingdirection is generally vertical to the moving road surface.

As shown in FIG. 31, the snow throwing path can also be that the snowblower moves along one direction and throws the snow, and is retunedback on the path which has been subjected to snow removal and only moveswithout snow throwing, or the snow throwing direction is not required tobe adjusted. Of course, the control module needs the distance from thesnow blower to the snow throwing surface to calculate the snow throwingdistance, and the snow throwing distance can also be changed byadjusting a rotary speed of the snow throwing wheel.

The snow throwing cylinder throws the snow by rotation, the controllerof the snow blower will recognize the rotating current, a rotary speedand the like of the motor, when the current exceeds a set threshold orthe rotary speed is lower than the threshold, it is indicated that thethrown snowfall is overlarge, and the snow blower will avoid theoverload of a snow throwing motor by reducing the moving speed.

After the snow blower recognizes an obstacle in the snow throwingdirection, the snow throwing direction will be adjusted, and if the userdefines that the snow can only be thrown to a fixed direction, then thesnow throwing will be stopped.

When the snow removal manner is snow sweeping, there are at least threesnow sweeping paths, FIG. 32 shows the first snow sweeping path, thesnow sweeping path can be vertical to an extending direction of theroad, or parallel with the extending direction of the road, the solidline shows the snow sweeping path, the virtual line shows a repeatingpath or returning path, the first path has the characteristic of snowsweeping toward one direction and is suitable for the road of which bothsides are the snow lands, but the snow can only be thrown to the lawn onone side, thereby avoiding that the snow is thrown to the lawn on theother side during snow sweeping. Since the returning path has beenswept, repeated sweeping is not required, and from the moving path ofthe snow blower, the snow blower moves for two road sections, butactually sweeps one road section, the sweeping efficiency is general andthe first path is not suitable for the occasions requiring fast snowremoval.

FIG. 33 shows a second snow sweeping path, the snow sweeping path isvertical to the extending direction of the road, the snow is swept totwo sides, that is, the snow can be swept for all the paths where thesnow blower moves, the second snow sweeping path can also be called as Spath snow sweeping and is suitable for the condition that both sides ofthe road are lawns and the snow can be thrown to the both lawns, inaddition, since the snow sweeping path is vertical to the extendingdirection of the road, the sweeping distance once is short, not too muchsnow will be accumulated in front of the snow blower, therefore, thesweeping is not required to be performed to specific snow piling points,no repeated paths exist, and the snow sweeping efficiency is higher.

FIG. 34 shows a third snow sweeping path, the snow sweeping path isparallel with the extending direction of the road, and is also S pathsnow sweeping, and such snow sweeping manner has the least turning timesand the relatively high in efficiency.

As shown in FIGS. 35 to 37, when the snow removal manner is the snowpushing, there are at least three snow pushing paths, FIG. 35 shows thefirst snow pushing path, the snow pushing path is approximately parallelwith the extending direction of the road, since the snow pushingdistance is longer, two snow piling points need to be set, the solidline shows the snow pushing path, the virtual line shows the repeatedpath or the returning path, the first path has the characteristic thatthe snow blower pushes the snow to the snow piling point from the firstposition of one direction and is then retuned, then pushes the snow tothe snow piling point from the second position of such direction, and soon till the snow on the whole width of the road is cleaned, and then thesnow blower pushes the snow to the next snow piling point. Such manneris suitable for the situation that the snow can only be piled to fixedplaces.

FIG. 36 shows the second snow pushing path, the snow pushing path isapproximately vertical to the extending direction of the road, the snowblower pushes the snow to two sides respectively from the middle of theroad, there are two choices, one choice is that the snow blower pushesthe snow to one side, is returned to the middle and then pushes the snowto the other side, and so on; the other choice is that the snow blowerpushes the snow to one side from the middle, is retuned to the middle,then continues to push the snow to such side till the tail end of theroad, and then pushes the snow to the other side from the middle of thetail end, i.e., from the head to the end for half of the road and fromthe end to the head for the other half of the road. Such path issuitable for the situation of the wider road, and the situation that theuser does not set the snow piling point and the snow can be piled toboth sides of the road.

FIG. 37 shows the third snow pushing path, the snow pushing path isapproximately vertical to the extending direction of the road, the snowblower pushes the snow in an S shape from one side of the road, and suchmanner is suitable for the situation that the once maximal snow pushingamount along the width of the road is smaller than the load of a snowpushing machine, wherein the maximal snow pushing amount can becalculated according the snow thickness, the road width and the lengthof a snow pushing head.

The above snow pushing paths can be automatically generated according tothe map generated by the user, and the user can independently select ordefaults by the controller. The defaulting manner of the controller isas follows: if the user does not set the snow piling point, then thefirst or second snow pushing manner can be adopted, the snow blowerrecognizes the width of the road surface, if the road surface is toowide and exceeds a set value, then the first snow pushing path isadopted, such that the snow cannot be excessively pushed to causeoverlarge load, otherwise, the second snow pushing path is adopted. Ifthe user sets the snow piling points, then the third snow pushing pathis adopted. The number of the snow piling points is related to thelength of the snow pushing path, and each snow piling point requeststhat the moving path cannot be too long to avoid the overlarge snowpushing load. The controller of the snow blower will calculate whetherthe snow piling points set by the user meet the requirements or promptthe user to set sufficient snow piling points.

If there is a ramp in the working area of the snow blower, it may becaused that the working head abuts against the road and cannot moveuphill, or the snow cannot be cleaned completely downhill due to acertain distance between the working head and the ground. The statechange of the snow blower in a typical ramp is described with referenceto FIG. 38.

In the present embodiment, the detection module of the snow blowercomprises an acceleration sensor, and the acceleration sensor is mountedin the snow blower and configured to detect a dip angle of the snowblower. Of course, a pressure sensor can also be used for measuring analtitude, and they all can be configured to generate a 3D map. Theworking head of the snow blower is provided with a motor, configured todrive the working head to ascend or descend relative to the ground.

When the snow blower starts to record the map, a dip angle of each pointwill be recorded simultaneously, as shown in A1, B1 . . . N1. When thesnow blower works according to the path, it will judge whether the dipangle of the front path is overlarge or not, that is, the snow blowerwill judge the dip angle of the B1 point when at the point A1, theworking head will be affected if the dip angle of the B1 point isoverlarge, that is, if the dip angle of the B1 point is larger than apreset value, the controller will start the motor to lift the workinghead for certain angle in advance. The lifted angle is related to the B1point, and the larger the dip angle is, the larger the lifted dip angleis. After the dip angle is restored to be normal, the controller startsthe motor again to descend the working head.

The detection system of the snow blower according to the presentembodiments further comprise an obstacle sensor, and the obstacle sensorcan be an ultrasonic sensor, an infrared sensor, a laser sensor, aradar, a camera, etc. When the obstacle sensor detects the obstacle, ifthe working head is the snow pushing head or the snow sweeping head,then the snow pushing head or the snow sweeping head will stop workingor work toward the places without the obstacle. If the working head isthe snow throwing head, the snow throwing direction will be changed.

The snow blower according to the present embodiments can beautomatically returned back to the dock for charging according to selfconditions. Specifically, the controller in the snow blower cancalculate the energy of the battery and the working time, when theenergy of the battery is lower than a preset value or the working timeis larger than the preset value, the snow blower is controlled to bereturned back to the dock. The returning path of the snow blower isdivided into two manners, the first manner is as shown in FIG. 39, thesolid line path is the path that has been swept, and the virtual line isthe returning path. The returning path has been in the swept path,therefore, the snow sweeping head does not work during returning,thereby saving returning energy. The second manner is as shown in FIG.40, the solid line path is the path that has been swept, the virtualline is the returning path, the returning path is contained in the snowsweeping path, i.e., the snow sweeping is performed during returning.

The controller of the snow blower will automatically calculate therequired working area and required energy, when the energy is enough tosupport the working area required by once sweeping, the second solutionis adopted, when the energy is not enough, the first solution isadopted, and the benefit of adopting the second solution will save moretime compared with the first solution.

There are many manners for the snow blower to return back to the dockfor charging. The wireless charging manner is preferable in the presentembodiment. Specifically, the dock is provided with a wireless chargingemitting panel, the snow blower is provided with a wireless chargingreceiving panel, the wireless charging receiving panel is connected to abattery in the snow blower, and the controller realizes the connectionbetween the wireless charging emitting panel and the wireless chargingreceiving panel by guiding the snow blower to move through the locationnavigation module.

In order to precisely guide the wireless charging receiving panel of thesnow blower to be accurately flush with the wireless charging emittingpanel, the detection system of the snow blower further comprises asignal detection circuit, when the snow blower moves to the dock, thewireless charging emitting panel sends a charging signal to the wirelesscharging receiving panel, the signal detection circuit detects whetherthe intensity of the charging signal received by the wireless chargingreceiving panel reaches the preset value, locates the position of thewireless charging receiving panel when the intensity of the detectedcharging signal reaches the preset value and guides the snow blower tostop moving for wireless charging. The charging signal can be a currentor voltage signal, and the signal detection circuit detects whether thecurrent or voltage generated on a charging loop by the charging signalreceived by the wireless charging receiving panel reaches the presetvalue in real time to judge whether the intensity of the charging signalreaches the preset value.

In addition, in order to prevent the condition that the charging cannotbe performed since there is accumulated snow on the wireless chargingemitting panel, the wireless charging emitting panel in the presentembodiment is provided with sensors for detecting the snow and snowweight, and a heating system. After the snow blower is returned and thewireless charging emitting panel and the wireless charging receivingpanel are jointed, the weight on the emitting panel will be detected, ifthe weight exceeds the threshold, the heating system will be started tomelt the accumulated snow. After the weight is lower than the threshold,the snow melting is stopped.

By detecting the snow, the snow blower will automatically go out of thedock for snow removal when it snows or the snow thickness reaches thepreset value, i.e., user monitoring is not required after once settingis finished. Of course, the snow blower can also receive the informationsuch as weather report and real time weather by a network, and makes aworking plan. Or, the snow blower can send the working area, a cuttingsolution and the like of the user's house to a cloud terminal, and thecloud terminal can optimize the sweeping solution of the snow bloweraccording to the data such as situation, terrain and climate of the userand users around. In addition, the data of the snow blower can beinterconnected with the smart home in the house by the cloud terminal,for example, after detecting the snowing, the snow blower will send thedata to the cloud terminal, and the could terminal closes windows andswitches on an air conditioner of the user and controls the snow blowerto go out for working by the smart home. That is to say, the snow blowercan serve as part of an intelligent gardening system, the intelligentgardening system is configured to inspect and control gardening devicesin a gardening area, and its control center generates a controlinstruction based on the environment information of the gardening areacollected by the sensors, and the snow blower executes the snow removalworking according to the control instruction. The gardening devices suchas the sensors and the snow blower and the control centerintercommunicate with each other to form internet of things.

According to the snow blower in the full automatic working mode, theborder map can also be generated by other manners, for example, themanner of combining a closed border line and GPS is adopted to set theworking area of the snow blower.

A common method is to pave the border line on the working area, and theborder line is connected to a signal generator, such that the borderline can generate a signal detected by the snow blower. The snow blowerjudges whether it is in the working area according to the signal, andfurther selects the corresponding working mode.

After the user purchases the snow blower, the manufacturers will pavethe border line of the working area of the snow blower where the snowremoval is required according to the requirements of the user, theborder line is paved by some large-scale machinery capable of slottingand sinking cords, or slotting is performed by some electric or manualtools, and then the border line is manually placed in slots.

The border line is an electrified wire, a specific border line signalexists in the wire, the border line signal is sent from the dock, andthe snow blower can recognize whether the snow blower is inside oroutside the border line by receiving an electromagnetic signal sent bythe border line through an induction coil mounted in the snow blower.

When the map is created, the snow blower can apply the electroniccompass, the speedometer and the GPS to realize automatic location andnavigation, a course angle is measured by the electronic compass, thenthe relative coordinates of the snow blower are obtained in combinationwith the dead reckoning of the speedometer, then absolute location anderror elimination are performed according to the GPS coordinates, andfinally the coordinates of the snow blower at any moment can beobtained.

Referring to FIGS. 41 to 43, specifically, a preferred method forconstructing and storing the map of the snow blower in the presentembodiment comprises the following steps:

1) setting the coordinates of the dock as the original coordinates (x0,y0) of the snow blower, setting the initial value of a maximal valuexmax and the initial value of a minimal value xmin of the x coordinate,and the initial value of a maximal value ymax and the initial value of aminimal value ymin of the y coordinate, which are xmax=x0, xmin=x0,ymax=y0 and ymin=y0 respectively in the working area when the snowblower departs from the dock;

2) causing the snow blower to depart from the dock, operate for a circlearound the border line of the working area and to be returned back tothe dock, and in the operation process, continuously updating themaximal value xmax and the minimal value xmin of the x coordinate, andthe maximal value ymax and the minimal value ymin of the y coordinateaccording to the following manner: respectively comparing thecoordinates (xi, yi) with the xmax, xmin, ymax and ymin updated lasttime at any moment i, wherein if xi<xmin, then xmin=xi, otherwise, thevalue of xmin is kept unchanged, if xi>xmax, then xmax=xi, otherwise,the value of the xmax is kept unchanged, if yi<ymin, then ymin=yi,otherwise, the value of ymin is kept unchanged, if yi>ymax, thenymax=yi, otherwise, the value of the ymax is kept unchanged, and the(xi, yi) are coordinates of the snow blower at the i moment;

3) according to the finally updated xmax, xmin, ymax and ymin after thesnow blower is operated for a circle around the border line, determiningthe four coordinate points representing a maximal range of the borderline, which are (xa, ymax), (xb, ymin), (xmax, ya) and (xmin, yb)respectively, wherein xa is the horizontal coordinate corresponding tothe ymax, xb is the horizontal coordinate corresponding to ymin, ya isthe horizontal coordinate corresponding to xmax, and yb is thehorizontal coordinate corresponding to xmin;

then according to the four coordinates representing the maximal range ofthe border line, calculating the maximal difference value Xmax=xmax-xminof the x coordinate and the maximal difference value Ymax=ymax-ymin ofthe y coordinate in the working area;

simultaneously calculating the center coordinates (xc, yc) of theworking area, wherein xc=[(xmax+xmin)2], yc=[(ymax+ymin)/2];

4) calculating the parameter n representing the size of the mapaccording to the following formula, n=[X/2Δ]+1;

wherein Δ is length side of a square grid of the map, X is the largervalue between the maximal difference value Xmax of the x coordinate andthe maximal difference value Ymax of the y coordinate in the maximalrange of the working area, that is, when Xmax≥Ymax, then X=Xmax, andwhen Xmax<Ymax, X=Ymax; and

5) realizing the mapping between the map data and the address of amemory unit according to the parameter n representing the size of themap, wherein the specific method comprises storing all map grid data inthe memory unit according to the format {xi, yi, map grid attribute},wherein each piece of map grid data occupies the space size of m bytes,the map center coordinates (xc, yc) are stored in an initial address ofthe memory unit, the offset of the initial address and the minimaladdress in the map is k, k≥0, and the storage positions of othercoordinates (xi, yi) are determined according to the offset of thecoordinates and the minimal address solved by the following formula:M(2n+1)m+Nm+k;

wherein M and N are determined by the following method:L1=(xi−xc)/Δ, L2=(yi−yc)/Δ;

When L1>0, M=2|L1|, and when L1<0, M=2|L1|−1;

When L2>0, N=2|L2|, and when L2<0, N=2|L2|−1.

Wherein the map grid attributes in the step 5) are formed by multipleelements related to the map of the snow blower, and comprise theattributes for representing the environments in the map grids and theattributes for representing whether the snow blower passes by the mapgrids.

The method of the system can finish the creation and storage of the mapof the snow blower, thereby realizing the automatic location navigationof the snow blower. When the map data are created, the snow blowerfirstly operates for a circle around the working area, calculates thedata of the map border according to the coordinate values calculated bythe sensors and generates a mapping relation between the map data andthe address of the storage unit, then the snow blower creates internalmap data within the border area and updates the map attributes in thememory. After the map coordinates are created, the snow blower operatesaccording to the map, the snow blower reads the data of the currentcoordinates and of adjacent four coordinates by location, and the nextaction and the operation direction of the snow blower are judgedaccording to the advancing direction and the grid properties of theadjacent coordinates, when a working voltage of the snow blower is notenough, the sown blower automatically stores the current coordinates andthe navigation direction and is retuned back to the dock for charging,reads the coordinates and the navigation direction recorded last timeafter the charging, automatically plans the optimal path to reach thecoordinate position, and then continues to work. In the method of thepresent invention, the snow blower creates the map data by the locationnavigation sensors and enables the map data and the addresses of thestorage unit to be in one-one mapping, thereby conveniently storing andreading massive map data.

The map data of the snow blower in the above method are in the gridform, the map environment can be better described by using theattributes of the grid map, in view of the reason of larger data size ofthe grid map, when the map is created, the snow blower departs from thedock and operates around the border line, continuously calculates thecurrent coordinates in the operation process, and obtains the fourimportant characteristic coordinate points representing the map sizeafter operating for one circle, which respectively comprise the twopoints with the maximal and minimal horizontal coordinates of the mapand the two points with the maximal and minimal longitudinal coordinatesof the map, then the mapping relation between the map data and theaddresses of the map data is automatically created according to thesefour characteristic coordinate points, the map data and the memory unitare tightly combined by creating the address mapping, not only is therapid reading and storage of the map data realized, but also the methodis suitable for the maps of different sizes by adopting a parameteradjusting manner, such that the snow blower can operate under anyworking environment.

After the map data are created by such method, the map data haveuniqueness, that is, the contents of the memory unit correspond to thecoordinates of the whole environment map one to one, when the snowblower needs to call the map in the operation process, the map data canbe rapidly read by only calculating the parameter in the mapcorresponding to the current coordinates, thereby ensuring that the snowblower has a clear understanding on the environment map.

Another manner adopted for setting the working area of the snow bloweris UWB, to generate the border map.

Referring to FIGS. 44 to 48, the location system of the snow blowercomprises a border 320 defining the working area of the snow blower 100,UWB labels 410 are disposed outside the working area, the outer part ofthe working area comprises a border line 320 and the two UWN labels 410outside the border line 320, the location navigation module of the snowblower is a UWB location module, and the UWB location module calculatesthe two positions of the snow blower by the two UWB labels 410, andtakes the position in the border line as the position of the snowblower.

For the above location system of the snow blower, the UWB labels aredisposed outside the working area of the snow blower, the snow blower isprovided with an UWB location module, the position of the snow blower inthe working area can be precisely located by the UWB location, the pathplanning is convenient to perform, and the working efficiency of thesnow blower is improved.

The UWB location module sends a UWB signal to the UWB labels 410 to wakethe UWB labels 410, the UWB signal is fed back to the UWB locationmodule after the UWB labels 410 are waked, the UWB location module sendsa location UWB signal to the UWB labels 410 after receiving the fed UWBsignal and starts timing, the UWB labels 410 send a location feedbacksignal to the UWB location module after receiving the location UWBsignal, and the UWB location module stops timing after receiving thelocation feedback signal and calculates the position of the snow blower100.

Two or three UWB labels 410 can be disposed. FIG. 45 has two UWB labels410. The outer part of the working area comprises a border line 320 andan outer part of the border line 320, two UWB labels can be disposed onthe border line 320 and can also be disposed outside the border line320, or one UWB label is disposed on the border line 320 and the otherUWB label is disposed outside the border line 320. The two UWB labels410 as shown in FIG. 45 are disposed on the border line 320. When thepath planning is performed, the accurate position of the snow blower 100needs to be located at first. In the present embodiment, when the UWBlocation module receives the location feedback signal and then stopstiming and calculates the position of the snow blower 100, the UWBlocation module respectively calculates the distances r1 and r2 betweenthe snow blower 100 and the two UWB labels 410 according to the sentlocation UWB signal and the time duration between the time of timingstarting and the time of timing stopping, two corresponding circles aremade with the calculated distances r1 and r2 between the snow blower 100and the two UWB labels 410 as the radii, and with the positions of thecorresponding UWB labels 410 as the circle centers, the positions ofintersection points of the two circles are calculated, and the judgedpositions of the intersection points within the working area are used asthe positions of the snow blower 100. The two circles have two positionsof the intersection points, since the working area is fixed, it isnecessary to abandon the position of the intersection point within theworking area. Specifically, a border line receiver can be disposed inthe snow blower 100, and the UWB location module can judge whether theposition of the intersection point is in the working area according to aborder line signal received by the border line receiver.

FIG. 46 has three UWB labels 410 which are not on the same straightline, when the three UWB labels 410 are disposed, one, two or three ofthe labels can be disposed outside the border line 320. In the three UWBlabels 410 as shown in FIG. 46, two UWB labels are disposed on theborder line 320, and one UWB label is disposed outside the border line320. When the path planning is performed, the accurate position of thesnow blower 100 needs to be located at first. In the present embodiment,when the UWB location module receives the location feedback signal andthen stops timing and calculates the position of the snow blower 100,the UWB location module respectively calculates the distances r1, r2 andr3 between the snow blower 100 and the three UWB labels 410 according tothe sent location UWB signal and the time duration between the time oftiming starting and the time of timing stopping, three correspondingcircles are made with the calculated distances r1, r2 and r3 between thesnow blower 100 and the three UWB labels 410 as the radii, and with thepositions of the corresponding UWB labels 410 as the circle centers, andthe calculated position of the intersection point of the three circlesis used as the position of the snow blower 100. As shown in FIG. 46, thethree circles have only one position of the intersection point incommon, and the position of the intersection point is the position ofthe snow blower 100.

Respective UWB labels are respectively disposed on the border of theworking area or in multiple preset positions on the lawn aside, areeasier to mount and are closer to the UWB location module, which isfavorable for the UWB location module to find the position per se.

Three or more than three UWB labels are mounted at least in the workingarea or nearby the working area. The snow blower is provided with theUWB location module per se. The UWB location module can realize selflocation by using the waking and distance measuring of the three or morethan three UWB labels. In one embodiment, there are three UWB labels,one of the UWB labels can be disposed aside the dock and obtainselectric energy from the dock, and the other two UWB labels can obtainelectric energy by solar energy or other manners.

In the present embodiment, in order to conveniently wake the UWB labels410, when the UWB location module sends the UWB signal to the UWB labels410 to wake the UWB labels 410, the UWB signal sent by the UWB locationmodule is a low level signal.

The above self location method for a snow blower comprises the followingsteps:

S101 sending the waking signal to respective UWB labels by the UWBlocation module, wherein the UWB location module is disposed on the snowblower and respective UWB labels are respectively disposed in multiplepositions;

S102 after respective UWB labels are waked, sending a waking feedbacksignal to the UWB location module;

S103 after the UWB location module receives the waking feedback signal,sending a location signal to respective UWB labels, and starting timing;

S104 after respective UWB labels receive the location signal,respectively sending a location feedback signal to the UWB locationmodule;

S105 stopping timing after the UWB location module receives the locationfeedback signal, and calculating the distances with respective UWBlabels according to timing results; and

S106 locating the position of the snow blower according to thecalculated distances between the snow blower and the respective UWBlabels.

The waking signal, the waking feedback signal, the location signal andthe location feedback signal are all UWB signals, and rapid distancemeasuring is realized by using the UWB location module and the UWBlabels.

In one of the embodiments, the step of sending a location signal torespective UWB labels by the UWB location module, and starting timingcomprises the following step:

sending the location signal to respective UWB labels by the UWB locationmodule, and starting timing for respective UWB labels respectively.

The step of calculating the distances with the respective UWB labels bythe UWB location module according to the timing results comprises thefollowing step:

after the UWB location module receives the location feedback signal sentby one UWB label, stopping timing for such UWB label, and calculatingthe distance with such UWB label according to the timing result.

The UWB location module sends the location signal to each UWB label andrespectively starts timing for each UWB label; after receiving thelocation feedback signal sent by certain one UWB bale, the UWB locationmodule stops the timing for such UWB label, and the UWB location modulecan calculate the distance with such UWB label according to the timingresult specific to the certain one UWB label. Therefore, according tothe timing result for each UWB label, the distances between the UWBlocation module and the respective UWB labels can be calculated.

In one of the embodiments, the step of calculating the distances withrespective UWB labels according to the timing results comprises thefollowing step:

calculating the distance between the UWB location module and any one UWBlabel according to the following formula:

$D = {c \times \frac{1}{2}\left( {T_{A} - T_{replyB}} \right)}$

wherein D is the distance between the UWB location module and the UWBlabel, T_(A) is the total time of the UWB location module for the UWBlabel from the time of timing starting to the time of timing stopping,T_(replyB) is the time delayed by the UWB label from receiving thelocation signal to sending the location feedback signal and c is thelight propagation speed.

A specific distance measuring method of the ultra wide band (i.e., UWB)comprises time of arrival (TOA), time difference of arrival (TDOA) androundtrip time of flight (RTOF), etc., wherein the RTOF is taken as anexample for explanation.

FIG. 47 is referred and is a schematic diagram of a UWB distancemeasuring principle.

When the snow blower starts to operate, the snow blower firstly emitsthe UWB signal to wake other pre-mounted UWB location labels by the UWBlocation module A per se, then emits the UWB signal, and starts timing.After receiving the UWB signal, other labels B feed back the UWB signal,the location module A on the snow blower stops timing when receiving theUWB signal fed by the label again, hence it can be obtained that

$T_{R} = {\frac{1}{2}\left( {T_{A} - T_{replyB}} \right)}$

Wherein, T_(R) is the time that the signal is transmitted to B from A,T_(A) is the total time from the time of starting timing to the time ofstopping timing for the UWB label by the UWB location module, that is,the signal total time in the measuring process, and T_(replyB) is thetime delayed by the UWB label from receiving the location signal tosending the location feedback signal. Then the distance between the twopoints is:

$D = {{c \times T_{R}} = {c \times \frac{1}{2}\left( {T_{A} - T_{replyB}} \right)}}$

Wherein c is the light propagation speed.

FIG. 48 is a referred and is a schematic diagram of a UWB locationprinciple.

The snow blower communicates with respective UWB labels by the UWBlocation module per se, so as to calculate the distance with therespective UWB labels, and after the distances with three different UWBlabels are at least measured, the snow blower can be located bydetermining the position per se through an algorithm.

In one embodiment, the Trilaterate algorithm can be adopted forlocation. FIG. 5 is referred and is a schematic diagram of a Trilateratealgorithm location principle.

When the snow blower and the whole set of location system are mounted,the distances between three auxiliary location devices (corresponding tothe three UWB labels in the present embodiments) are measured at first,the connecting line of two of the location devices is taken as an xaxis, then a mathematic model as shown in the figure can be simplified,wherein the point D (x, y) represents the UWB location device assembledon the snow blower, while A(0, 0), B(k, 0) and C(m, n) are thecoordinates of the three auxiliary location points (corresponding to thethree UWB labels in the present embodiments). The coordinates of thethree points can be measured by the distances between the points A, Band C. While the distances between the three location devices and thepoint D are r1, r2 and r3 respectively, and can be measured by the UWBlocation device. Then the position parameters of the snow blower can becalculated according to the following formulas:r1² =x ²+²r2²=(k−x)² +y ²r3²=(m−x)²+(n−y)²

Then the values of x and y are as follows:

$x = \frac{k^{2} + {r\; 1^{2}} - {r\; 2^{2}}}{2\; k}$$y = \frac{m^{2} + n^{2} + {r\; 1^{2}} - {r\; 3^{2}2\;{mx}}}{2\; n}$

Therefore, the location of the snow blower is finally realized.

In one of the embodiments, after the step of locating the position ofthe snow blower, the method comprises the following steps:

feeding the location position information to the control module on thesnow blower by the UWB location module; and

controlling the snow blower to execute corresponding operation accordingto the location position information.

After moving respective UWB labels, the UWB location module sends thelocation signal to the respective UWB labels and starts timing, therespective UWB labels send the location feedback signal to the UWBlocation module respectively, and the UWB location module stops timingafter receiving the location feedback signal. The distances with therespective labels are calculated according to the timing results,thereby locating the position of the snow blower.

The UWB location module feeds the location position information back tothe control module on the snow blower, the control module performscorresponding actions according to the location position information,thereby realizing the automatic location of the snow blower and furtherperforming path planning.

By the UWB location module disposed on the snow blower and therespective UWB labels disposed in multiple preset positions, theautomatic location of the snow blower is realized and further the pathplanning is performed.

Another manner for setting the working area of the snow blower is tocircle on an electronic map, for example, Google map.

The user loads the electronic map such as the Google map by a mobilephone, a remote control and other manners. The mobile phone or computerhas a GPS or WIFI location module and the like, by which the user canrapidly find the position of own home on the map. On the Google map ofthe own home, the user circles one working area, and the mobile phone orthe computer guides the working area into a controller of the snowblower and generates a map as shown in FIG. 41. When in work, accordingto the generated map, a reasonable snow removal path is processed andplanned in the border of the area needing snow removal by path planning.

In addition, the location navigation function may not be adopted, theworking area of the snow blower is set in a remote control extractionmanner, and the working area is recognized based on a video manner.

As shown in FIGS. 49 and 50, the whole automatic snow removal systemcomprises the snow blower and a monitoring device 600 such as aSMARTPHONE or IPAD for monitoring a working state of the snow blower, aman-machine interaction module of the snow blower comprises a wirelesscommunication unit, the wireless communication unit is connected to thecontrol module and configured to receive a signal sent by the monitoringdevice such as the SMARTPHONE or IPAD and transmit the signal to thecontrol module, and the control module controls a moving direction, amoving speed, the working state and the like of the snow blower 100according to different signals. The monitoring device 600 such as theSMARTPHONE or IPAD is fixed by a support and is disposed in a placecapable of shooting the whole working area, firstly, a vision field isadjusted, then the picture of the working area is shot, that is, thearea is determined; then the user describes the working area on thepicture of the working area, i.e., area extracting, to obtain a borderline 320′, and the extracted working area is as shown in FIG. 40.

When the snow blower works, the monitoring device 600 such as theSMARTPHONE or IPAD will monitor whether the snow blower is in theextracted working area in real time, that is, whether the snow blowerworks in the defined area, a signal is sent to the wirelesscommunication unit if the snow blower is not in the working area, thewireless communication unit receives the signal and transmits to thecontrol module, and the snow blower 100 is controlled by the controlmodule to change the path.

The manner of setting the working area by the remote image is notlimited to the above manner. In another embodiment, the snow blowerfurther comprises a camera shooting/picture taking device disposed onthe main body, configured to obtain an environment image and the imagesof close moving objects, in one embodiment, the camera shooting/picturetaking device is a camera. The user can receive the image shot by thecamera in real time by a mobile device such as a mobile phone, acomputer and a remote control disposed on the snow blower, and remotelycontrols the snow blower to move and remove the snow, the controllerrecords an advancing path, and the map is automatically generated afterthe recording is finished.

FIGS. 51 to 53 show a preferred third embodiment of the presentinvention, which is a solution of border setting and path planning by athree-dimensional polar coordinate solution, i.e., a manner of imagetracking, laser distance measuring and angle measuring of amachine-identified object. The snow removal system in the presentembodiment comprises a snow blower 100 and a fixed site 800. The fixedsite has a detection module and a site wireless communication module,wherein the detection module comprises a laser distance measuring module820, a cloud deck camera 840 and a sensor configured to measure an angle(for example, a triaxial acceleration sensor), and correspondingly, thesnow blower is provided with an obvious identified object 191 and amachine wireless communication module, wherein the cloud deck camera 840can rotate for 360 degrees horizontally and can rotate for 180 degreesup and down, and the laser distance measuring module 820 is mountedaside the camera. The could deck is further provided with an anglesensor (not shown), the angle sensor, the camera 840 and the laserdistance measuring module 820 are relatively static. The site wirelesscommunication module on the fixed site can communicate with the snowblower. The top of the snow blower is provided with the identifiedobject 191 having an obvious mark (for example, a specific color orspecific shape, or a partially lighting object), the size of theidentified object is very small relative to the snow blower, and can beconveniently subjected to image identification. The machine wirelesscommunication module mounted on the snow blower can communicate with thefixed site. The setting manner for the working area is as follows:enabling the snow blower to be on the fixed site, and enabling thecamera to face front as an original point of the three-dimensional polarcoordinates; remotely controlling or hand-pushing the snow blower for acircle along the border to be swept, and ensuring that no people orother objects shield the snow blower from identifying the identifiedobject in the advancing process; adjusting the camera on the fixed sitein such process, such that the image of the identified object and alight spot of the laser distance measuring module of the snow blower arealigned with a central area of the image of the identified object, atthis point, recording the laser distance measuring distance L, and aplanar offset angle α and a vertical angle β of the camera, therebyobtaining the three-dimensional polar coordinates of the snow blower insuch position. A continuous border track can be obtained by multipointsampling to form a closed border.

The GNSS needs well receiving of a satellite signal to work reliably.However, the satellite signal is blocked by a building, a roof, asunshade, leaves or a tree sometimes. In order to improve the accuracyof a receiver or signal station of a GNSS system, a target receiver canbe used in short distance, which is so-called differential GNSS. Thereare some differential technologies, for example, the typical DGPS (orGPS), RTK and wide range RTK (WARTK). However, the signal from onesignal may also be stopped, for example, the case that the garden orother working areas are just around the house.

In addition, other position determining devices also have the similarproblem, for example, when an optical beacon is used, the sight may beblocked in certain areas. If the snow blower cannot correctly receivethe signal from the position determining system, it will face achallenge, and cannot be correctly navigated in the working area and thecoverage of the working area may not achieve the expected effect.

In such cases, the snow blower may also adopt an inertia navigationsystem per se for navigation work, but according to the workingprinciple of an inertia navigation system (the working principle of theinertia navigation is that based on the Newtonian mechanics laws, theaccelerated speed of a carrier in an inertia reference system ismeasured and is integrated subject to integration to time, and it isconverted into a navigation coordinate system to obtain the informationsuch as a speed, a yaw angle and a position in the inertia navigationsystem). It can be known that the inertia navigation system belongs to acalculation navigation manner, and the precision must be reduced alongwith time, which is not favorable for the long term work of the snowblower.

Therefore, in view of the situation that the snow blower may not receivethe reliable and accurate signal and some problems in the inertianavigation system, some solutions are put forward in the following, suchthat even when the signal is weak, the snow blower can still reliablywork for long time.

The working area has no border line, for example, the position kept inthe working area by using the location system (for example, GNSS), andthe working area is defined by coordinates.

The snow blower is provided with a position determining device, forexample, a GNSS device. In one embodiment, the GNSS device is a GPSdevice. The GNSS is connected to the controller, such that thecontroller can determine the current position of the snow blower andcontrols the movement of the snow blower with the GNSS device based onthe current position. In other implementable embodiments, the positiondetermining device comprises an optical (laser) position detectiondevice, other wireless frequency position detection devices, a UWBsignal station, a receiver, etc. The snow blower is further providedwith at least one sensor, configured to provide a signal for deadreckoning. Such dead reckoning navigation sensor can be a speedometer,an accelerator, a gyroscope, an electromagnetic compass, a magnetometer,a compass, etc.

FIG. 54 shows a working area formed by the border line or coordinates,and the snow blower works in the working area. The working areacomprises two parts, the first part is an area covered by GNSSnavigation, i.e., a GNSS navigation area; and the second part is thearea not covered by the GNSS navigation, that is, other interruptionareas of which the satellite signal is shielded by the building, theroof, the sunshade, the tree or other plants or the satellite signal isrelatively weak. The snow blower 100 is configured to work by using theGNSS device. One of the aforesaid snow removal modes is taken as anexample for explanation.

As long as the GNSS device of the snow blower can receive the enough andreliable signals of the satellite or the signal station, the controllercan determine that the received signal is reliable, and responds toexecute the determined working mode. When the GNSS device of the snowblower cannot receive the reliable satellite signal, the controllerexecutes the operation of continuously using another navigation system,or determines an alternative snow removal mode, that is, the locationdetection mode is not required.

When the snow blower detects that one reliable position cannot bedetermined, the dead reckoning navigation is switched, the calculationwork is derived, and the final known position and direction are adoptedas the current position and an assumed direction, for example, thecurrent position is determined by measuring the amount of rotatingwheels (or, the rotary speed and time of a rotary shaft). Of course, thederiving technologies for calculation also comprise relative navigationof other manners, for example, a visual/optical navigation system, SLAM,fingerprint fusion, and the like.

As shown in FIG. 54, it can seen that the generated operation mode B maybe different from the GNSS-based operation mode, due to the error of thesensor device, the compass or speedometer is configured for deadreckoning navigation. In order to avoid or reduce these errors, thecontroller calibrates the dead reckoning navigation sensor when the snowblower can reliably receive the GNSS signal. The controller detects thederived calculation navigation error and the calculation navigationsensor derived in response to the error calibration. The controllerdetermines no navigation errors based on the difference between thecurrent position and the expected position by comparing the currentposition and the expected position.

FIG. 54 takes the parallel lines as an example of the path of the snowblower in the working area, the snow blower moves in the working areaunder guiding of the signal received by the GNSS device, and the movingparallel lines are equal in length. The snow blower enters theinterruption area, the controller switches to dead reckoning navigation,and the snow removal paths B generated thereby are almost parallellines. However, according to the angle between the moving lines and thedriving distances (i.e., the size of the interruption area), the snowblower reenters the GNSS navigation area, in other words, when thereliable signal is received again, the current position and the expectedposition are compared. The C point is the position where the snow blowerreenters the GNSS navigation area, and at this point, the snow blowerreenters the GNSS navigation area to determine the distance A betweenthe current position and the expected position. The expected position isdetermined according to the time that the snow blower loses the GNSSnavigation, a moving average speed and snow removal work parameters (oroperation mode).

If the error Δ calculated by the controller is negligible, thecontroller causes the dead reckoning navigation sensor to calibrate. Ofcourse, the controller can also determine the calibration of the deadreckoning navigation sensor based on other navigation parameters. Thenavigation parameter is not limited to the above position, and can alsobe a driving direction, a speed, an accelerated speed, an inclinedangle, etc. For example, the snow blower is returned back to the GNSSnavigation area, it may determine the current speed according to theposition determining device, compares the current speed with the speedcalculated by the dead reckoning navigation module, determines whetherthe error can be neglected or not and performs corresponding adjustment.

The sensor can be continuously calibrated by the controller. In generalcases, the error cannot be neglected as long as the error can bedetected. If the errors are negligible errors, then the adjustment ratiois correspondingly adjusted. The adjustment can be executed by the useror the controller/operator or a designer of the snow blower.

If the snow blower reenters the interruption area later, the deadreckoning navigation sensor will calibrate the snow removal pathgenerated thereby, for example the position D in the figure, moresimilar to the snow removal path under the GNSS navigation. As the snowblower is returned back to the GNSS area, for example, the position E inthe figure, the snow blower will approach to the expected position.

In another embodiment, the snow blower can correct its position and/ordirection according to the detected error Δ. Here the correction can bethat the snow blower is driven along the expected moving path, forexample the referring line EL in the figure, and is returned back to theexpected position in the snow removal path. Therefore, the influence ofthe error dead reckoning navigation sensor of the snow blower on theerrors of the dead reckoning navigation can be reduced minimally.

In the foregoing, even through some parts in the working area cannotreceive the reliable GNSS signal, the snow blower can still execute andfinish the work according to requirements.

In the present embodiment, the satellite signal can be a navigationlocation signal such as a GPS signal or Beidou navigation signal.

In the foregoing two preferred embodiments, the working module can alsocomprise one or more of a working head mechanism such as a snow sweepingmechanism 120 and a snow pushing mechanism 160, and working motorsdriving these mechanisms to work, and may also comprise a snowsweeping/pushing height adjusting mechanism. The working head mechanismcan be replaced according to needs, or automatically replaced. By takingmanual replacing as an example, the snow blower 300 comprises a host 110and one or more of the snow removal mechanism 120, a snow throwingmechanism 140 and the snow pushing mechanism 160 which are detachablymatched with the host 110, the host 110 of the snow blower 200 isprovided with different working head mechanisms to correspondinglyexecute the working modes, that is, if the host 110 is provided with thesnow removal mechanism 120, correspondingly, the snow blower 100executes the snow sweeping mechanism; if the host 110 is provided withthe snow throwing mechanism 140, correspondingly, the snow blower 100executes the snow throwing mechanism; and if the host 110 is providedwith the snow pushing mechanism 160, correspondingly, the snow blower100 executes the snow pushing mechanism. Different snow removal modescorrespond to different working conditions, for example, the snowsweeping corresponds to a thin snow condition, the snow pushingcorresponds to a moderate or thick snow condition, the snow throwing issuitable for the snow of various thicknesses, in one embodiment, thesnow throwing is suitable for the moderate or thick snow condition.

In the foregoing embodiments, the snow throwing machine is taken as anexample for explanation, of course, those skilled in the art can performsimple replacement, the foregoing embodiment can also be a snow sweeperor snow pusher, that is, other modules can be referred as long as thecorresponding working heads are different. The specific working head isas shown in FIG. 55, the working head mechanism is a snow sweepingmechanism, the snow sweeping mechanism 120 comprises a rolling brush122, a protective cover 124 mounted on the periphery of the rollingbrush 122 and a working motor driving the rolling brush 122 to rotate(not shown in the figure), and the rolling brush 122 rotates at highspeed along with the advancing of the snow blower 100, thereby sweepingthe snow to the front of the snow blower 100. The working motor candrive the rolling brush to rotate by some common transmissionmechanisms, such as a conical gear mechanism and a turbine wormmechanism. The rotary speed of the rolling brush 122 is smaller than1000 r/m, in one embodiment, the rotary speed is smaller than r/m. Thematerial of the rolling brush is mostly nylon and can also be a nonmetalmaterial such as plastic, rubber and a wool fabric to prevent the injuryto people during mistake collision. The rotary direction of the rollingbrush 122 can be the clockwise direction or the counterclockwisedirection, and if the rotary direction is different, the snow throwingdirection and distance will be different to some extent. As shown by anarrow direction in FIG. 55, the rolling brush 122 rotating at the highspeed carries the snow to be thrown out from the upper side of therolling brush, and if along an opposite direction of the arrow, the snowwill be thrown out from the lower side of the rolling brush 122. Inorder for greater safety of snow throwing, the protective cover 124extends for a distance to the front part of the rolling brush along atangential direction to form a protective plate 1242, which can guidethe snow rotated along with the rolling brush 124 to be thrown out tothe lower side. In one embodiment, a snow throwing angle α of theprotective plate 1242 relative to the vertical direction is between20°-70°, which not only prevents the snow from being blocked in theprotective cover 124 but also ensures the snow throwing safety withoutaffecting the snow sweeping efficiency. Of course, in order to obtainthe optimal snow throwing efficiency, the snow throwing angle is betterbetween 45° to 65°. In addition, in order to prevent the large vibrationof the snow blower in the advancing, a damping mechanism 126 can bedisposed between the snow removal working head of the snow removalmechanism type and the host 110, specifically, the damping spring 126can be a damping spring, one end of the spring is connected on theprotective cover 124, the other end is connected on the host 110, thestructure is simple and the mounting is convenient.

As shown in FIGS. 56 and 57, the snow pushing mechanism 160 comprises asnow pushing shovel 162, which is approximately inward concave, one endof the snow pushing shovel is abutted against the ground and pushes thesnow to a fixed place with the advancing of the snow blower 100, and theheight of the snow pushing shovel 162 relative to the ground can beadjusted according to different conditions.

The foregoing three working head mechanisms can all be detachablymounted on the host 110 of the snow blower 100. Specifically, referringto FIG. 57, a connecting part 112 is disposed on one side of the host110, the connecting part 112 is provided with a power supply interface,correspondingly, the snow removal mechanism 120 and the snow throwingmechanism 140 have corresponding power supply interfaces, while the snowpushing mechanism 160 needs no power supply and does not need to beprovided with the power supply interface, therefore, the electricconnection with the host can be realized by connecting the snow removalmechanism 120 and the snow throwing mechanism 140 to the connecting part112, and its working motor is powered by an energy module in the host.In one embodiment, the three working head mechanisms, i.e., the snowremoval mechanism 120, the snow throwing mechanism 140 and the snowpushing mechanism 160 are in pivoting connection with the host 110, areconnected by dowels or bolts and can pivot relative to the host 110.

According to different working head mechanisms, the snow blower also hasa function of automatically recognizing the working head, as shown inFIG. 58, the connecting parts between the three working head mechanismsand the host are respectively provided with recognizing devices indifferent positions, the recognizing devices can be constructed asmagnets, or triggering switches or communication interfaces, etc.,different working head mechanisms are connected to the host to generatedifferent signals which are fed back to the control module, the controlmodule judges the forms of the working heads according to the receiveddifferent signals and automatically executes the control mannerscorresponding to the working heads, for example, adjusting a motorrotary speed, a moving speed, etc. By taking the signal switches as anexample, the connecting part 112 of the host is provided with threesignal switches 114, the connecting part between the snow removalmechanism 120 and the host can trigger the first signal switch, theconnecting part between the snow throwing mechanism 140 and the host cantrigger the second signal switch, the connecting part between the snowpushing mechanism 160 and the host can trigger the third signal switch,according to the different triggered signal switches, the control moduleexecutes the control mode corresponding to the received triggeringsignal. According to the present invention, in one embodiment, the snowblower is provided with three working head mechanisms, and at least twosignal switches can be disposed to realize the recognition of the threeworking heads. Of course, more working heads can be configured accordingto the needs, and correspondingly, multiple signal switches are disposedto recognize different working heads. In addition, the manner of acommunication mode can also be used, that is, a PCB is disposed in theworking head and can communicate with a main control part, and cannotice the main control working head of the type of the module in acommunication manner.

In order to cause respective modules in the host and related parts tonot be affected in the temperature of a low temperature environment ofice and snow and keep higher operation efficiency, some modules andrelated parts in the host need to be kept within an ideal temperaturerange. As shown in FIG. 59, in the present embodiment, in oneembodiment, all or part of the housing of the host is covered by anelectric heating thermal insulation material 130, for example, a solidelectric heating cake filled with heat preservation cotton (for example,asbestos, etc.), and the thermal insulation working principle is that adual-temperature control electric heating energy storage structure isused to gradually release the heat energy. An automatic overheatingprotective device and an automatic thermal insulation indication device,a small electric furnace controlled by a PTC thermosensitive resistorswitch are disposed internally, the PTC is the thermister of a positivetemperature coefficient, when the current passes, the thermister willemit heat (the heat of the electric furnace is also conducted thereto),when the temperature reaches a certain value, the thermister isincreased severely in resistance and can be regarded as disconnection,at this point, the consumption of the electric energy is stopped, thenthe slow heat release is realized depending on the thermal insulation ofthe heat preservation cotton, and the thermal insulation time is long.In this way, the snow blower can be heated only during charging and thenthe host is subjected to thermal insulation by the electric heatingthermal insulation material, thereby preventing the elements and partssuch as a battery and the controller from working under the lowtemperature state.

The electric heating thermal insulation material 130 can also be liquid,an electrode heating method is adopted, and double temperature controlsecurity of high quality temperature control and a thermal fuse isadopted. The temperature controller will automatically cut off thecircuit when the liquid temperature reaches 65 degrees in a normal case,heating is stopped, and the temperature of the heat by contact ofchemical substances therein is about 40° C. A liquid energy storageheating agent is used, the heating temperature rise is fast, the liquidis added once and can be used permanently, and the advantages of longservice life and durable temperature preservation are realized. Inaddition, the function of a lithium battery can be used, an internalheating piece heats, and the temperature can reach about 50° C.

The above electric heating thermal insulation material 130 is disposedon the host housing, can coat the outer part of the host housing, canalso be located in the host housing, is constructed according to a shapeof the host housing, and is mounted together with the host housing. Inanother embodiment, as shown in FIG. 60, the electric heating thermalinsulation material 130′ is disposed by only being close to the batteryand the controller, the controller is the core part of the whole snowblower, while the discharging or charging of the battery under the lowtemperature should be avoided, therefore, at least a battery boxcontroller should be subject to temperature preservation. The electricheating thermal insulation material is better disposed on the bottom ofthe battery and the controller to be favorable for preserving thetemperature from bottom to top.

As mentioned above, when the snow blower is an automatic snow throwingmachine, the snow on the ground is collected into the snow throwingmechanism by the snow scraping component and then thrown outwards. Inthe process that the snow scraping component collects the accumulatedsnow on the ground, the snow and inclusions in the snow will becollected. In the process of throwing the snow outwards, the snow andthe inclusions are thrown out together. When the energy of thrownobjects (including the snow and the inclusions) are overhigh, people orobjects nearby will be damaged by crashing. In order to avoid suchaccidents, the present embodiments provides three solutions. The firstsolution is to dispose an obstacle sensing component such as an obstacledetection device on the snow throwing machine, and the control modulecontrols the snow throwing component 144 to throw the snow to the areawithout people or objects or stop snow throwing according to a signaltransmitted by the obstacle sensing component. The second solution is tocontrol the energy of the thrown objects, such that the energy is withina safe energy range, thereby thoroughly avoiding the injury to people orthe damage to the objects located nearby. The third solution is to applythe first solution and the second solution to the snow throwing machineat the same time. The second solution is introduced emphatically.

The reason that the thrown objects cause injury to the people or thedamage to the objects nearby the snow blower is that when the thrownobjects make contact with the people or objects, they have certain speedand certain mass, i.e., have certain momentum. In combination with theresearch on the people and objects, the injury to the people or thedamage to the objects cannot be avoided till the momentum is lower than0.041 kg·m/s. The two factors, which affect the momentum, including themass M and the speed V during the contact with the people or objects areanalyzed in the following.

In view of the mass M, when high density inclusions such as stones andsteel balls are included in the snow, these inclusions have larger massand correspondingly have larger momentum, and cause heavier injury tothe people or the damage to the objects. Therefore, the research shouldbe focused on the weights of the large-mass objects which are possiblyincluded in the accumulate snow and possibly thrown out by the snowblower. According to the research on the ground situation and theresearch on the structure of the snow blower, the inclusions that arepossibly included in the accumulated snow to enter the snow blower andare thrown out have the weight of about 0.001 kg. The typical situationis the steel balls with the diameter being about 6.35 mm. According tothe momentum formula: I=M×V, the speed V of the inclusions cannot behigher than 41 m/s.

In view of the speed V, the V of the thrown objects when in contact withthe people or objects depends on the following factors: 1) the initialspeed V0 when the thrown objects depart from the snow throwingmechanism; 2) the distance D that the thrown objects span after thethrown objects depart from the snow throwing mechanism and reach thepeople or objects nearby; and 3) the speed attenuation V generated byovercoming the dead gravity and air resistance in the process that thethrown objects span for the distance D. On such basis, the speed V whenthe thrown objects make contact with the people or objects nearby isequal to V0-V′. Therefore, in order to avoid the crashing injury to thepeople or the damage to the objects, V0-V′ is smaller than or equal to41 m/s. In order to meet such requirement, the means that can be adoptedcomprise changing any one of V0 or V′. In the following, the means ofchanging V0 and V′ is introduced in combination with the factorsaffecting V0 and V′.

In view of V′, it is related to the distance D for the thrown objects tospan to reach the people or objects. The larger the distance D is, thelarger speed attenuation generated by overcoming the air resistance andthe dead gravity is, and the larger V′ is; on the contrary, the smallerthe distance D is, the smaller V′ is. According to the research of thepresent embodiment, in the near distance, the positions where there arethe people or objects most likely are the positions away form the outeredge of the machine body of the snow blower for 750 mm±50 mm. If it isguaranteed that the people or objects cannot be injured by crashing inthe positions with the distances of D=750 mm±50 mm, then it can bebasically ensured that the people or objects nearby the snow blower arenot injured or damaged by crashing. This is because the probability thatthe people or objects are within the closer distance is small, and thereare other manners for protecting the people or objects from beinginjured by the thrown objects. The speed attenuation V′ is larger forthe further distance, the speed when the thrown objects reach the peopleor objects is smaller, and the situation of being crashed by the thrownobjects will not happen. Since the distance D is between 700 mm-800 mm,the number is very small, then the speed attenuation V′ of the thrownobjects generated by the gravity and the air resistance within suchdistance can be neglected. That is, it is considered that V′□0. On suchbasis, V0□41 m/s, that is, the speed of the thrown objects departingfrom the snow throwing mechanism is smaller than or equal to 41 m/s.

In view of V0, V0 is related to a working speed of the snow throwingmechanism. In the case of insufficient power of the snow throwingmechanism, V0 is smaller than the working speed of the snow throwingmechanism. In the case of large enough power of the snow throwingmechanism, the initial speed V0 is same as the working speed of the snowthrowing mechanism. The snow throwing mechanism comprises a powercomponent and a snow throwing guiding component, the power componentcollects the accumulated snow and the inclusions therein on the groundinto the snow throwing mechanism, which are thrown to a direction guidedby the snow throwing guiding component after passing by the snowthrowing guiding component. The snow throwing guiding component adjuststhe throwing direction of the thrown objects. The snow throwing guidingcomponent can be a guiding cylinder such as a snow throwing cylinder andcan also be a guiding plate and various guiding components for guidingand changing the snow throwing direction. Since the stroke of the thrownobjects on the snow throwing guiding component is short, the attenuationon the speed of the thrown objects can be neglected. Therefore, theinitial speed V0 of the thrown objects is approximately equal to theworking speed of the power component. The power component can compriseone level or multilevel power. In the case that the snow throwingmechanism only comprises one level power, the initial speed 0 isbasically equal to the working speed of a first level power part, andunder such situation, the working speed V1 of the first level power partis smaller than or equal to 41 m/s. In the case that the snow throwingmechanism comprises two-level power, the initial speed V0 is basicallyequal to the working speed of a second level power part, at this point,the working speed V2 of the second level power part is smaller than orequal to 41 m/s. Correspondingly, the working speed of the first levelpower part is smaller. The power component can further comprisemultilevel power, and the initial speed of the thrown objects isapproximately equal to the working speed of the final level power partof the power component. No matter the power component comprises how muchlevels of power component, the first level power part is usually thesnow scraping component. In the present embodiment, the snow throwingmechanism only comprising one level power is taken as an example forexplaining the structural design of the snow scraping component.

The snow scraping component can be a cylindrical spiral snow collectingwheel, can also be a cylindrical snow sweeping rolling brush, and canalso be any other shapes, for example, the shape of a shovel. When thesnow scraping component is cylindrical, it rotatably collects theaccumulated snow on the ground into the snow throwing mechanism aroundthe central axial line and further throws the snow out. When the snowscraping component is in other shapes, it movably collects theaccumulated snow on the ground into the snow throwing mechanism by alever or connecting rod and further throws the snow out. In the presentembodiment, the snow scraping component is cylindrical, its workingspeed is the maximal linear speed of the snow scraping component, thatis, V1=ω×r, wherein ω=2πn, i.e., V1=2πn×r. Therefore, an 41 m/s, whichis the design target of the snow scraping component. Under such designtarget, the present embodiment provides several following possiblecombinations, and the present embodiments are not limited to the severalfollowing possible combinations.

Radius of the snow Rotary speed of the Angular speed of the Linear speedof the scraping component snow scraping snow scraping snow scraping r(m)component (r/min) component (rad/s) component V1(m/s) 0.12 3200 335.10440.21248 0.12 2500 261.8 31.416 0.12 2000 209.44 25.1328 0.12 1600167.552 20.10624 0.12 1400 146.608 17.59296 0.12 1300 136.136 16.336320.12 800 83.776 10.05312 0.1 3200 335.104 33.5104 0.1 2500 261.8 26.180.1 2000 209.44 20.944 0.1 1600 167.552 16.7552 0.1 1400 146.608 14.66080.1 1300 136.136 13.6136 0.1 800 83.776 8.3776 0.085 3200 335.10428.48384 0.085 2500 261.8 22.253 0.085 2000 209.44 17.8024 0.085 1600167.552 14.24192 0.085 1400 146.608 12.46168 0.085 1300 136.136 11.571560.085 800 83.776 7.12096 0.065 3200 335.104 21.78176 0.065 2500 261.817.017 0.065 2000 209.44 13.6136 0.065 1600 167.552 10.89088 0.065 1400146.608 9.52952 0.065 1300 136.136 8.84884 0.065 800 83.776 5.44544

Under the results of the above design, the momentum when the thrownobjects make contact with people or objects is as shown in the followingtable.

Radius of the Rotary speed snow of the snow scraping scraping Linearspeed V1 of Mass M of Momentum I of component component the snowscraping thrown objects the thrown r(m) (r/min) component (m/s) (kg)objects (kg · m/s) 0.12 3200 40.21248 0.001 0.04021248 0.12 2500 31.4160.001 0.031416 0.12 2000 25.1328 0.001 0.0251328 0.12 1600 20.106240.001 0.02010624 0.12 1400 17.59296 0.001 0.01759296 0.12 1300 16.336320.001 0.01633632 0.12 800 10.05312 0.001 0.01005312 0.1 3200 33.51040.001 0.0335104 0.1 2500 26.18 0.001 0.02618 0.1 2000 20.944 0.0010.020944 0.1 1600 16.7552 0.001 0.0167552 0.1 1400 14.6608 0.0010.0146608 0.1 1300 13.6136 0.001 0.0136136 0.1 800 8.3776 0.0010.0083776 0.085 3200 28.48384 0.001 0.02848384 0.085 2500 22.253 0.0010.022253 0.085 2000 17.8024 0.001 0.0178024 0.085 1600 14.24192 0.0010.01424192 0.085 1400 12.46168 0.001 0.01246168 0.085 1300 11.571560.001 0.01157156 0.085 800 7.12096 0.001 0.00712096 0.065 3200 21.781760.001 0.02178176 0.065 2500 17.017 0.001 0.017017 0.065 2000 13.61360.001 0.0136136 0.065 1600 10.89088 0.001 0.01089088 0.065 1400 9.529520.001 0.00952952 0.065 1300 8.84884 0.001 0.00884884 0.065 800 5.445440.001 0.00544544

The moving path of the automatic moving snow removal device is explainedin the following. The automatic moving snow removal device automaticallymoves along a planned path, and generates a moving track. The set of themoving tracks of the snow blower in the whole working area is defined asa moving track set, comprising multiple moving paths in parallel orforming an angle. In a first case, in the moving track set of the snowblower, there are at least two moving tracks including a first movingtrack and a second moving track which are basically parallel. The“basically parallel” means that an included angle between the two movingtracks is smaller than or equal to 10°. In a second case, the firstmoving track and the second moving track are adjacent and are overlappedwith each other, and an overlapping width is d to avoid that theresidual snow between the two adjacent moving tracks is not cleanedcompletely. In a third case, a maximal overlapping width between thefirst moving track and the second moving track is dmax, and a minimaloverlapping width is dmin, the length of the shortest of the firstmoving track and the second moving track is L, the “basically parallel”means that the included angle between the two moving tracks is smallerthan or equal to (dmax−dmin)/(180*π*L, and dmin□0.

The snow blower, the snow blower system and the control method for asnow blower under another design thought are introduced in combinationwith FIGS. 61-66.

Referring to FIG. 61, FIG. 61 is a schematic diagram of a control methodfor a self-moving device in an embodiment. In the embodiment, theself-moving device can be provided with a turnable object throwingdevice and a plurality of obstacle sensors respectively corresponding todifferent detection positions. For example, when the self-moving deviceis a snow throwing machine, the throwing device can be a snow throwingcylinder, and the obstacle sensor can be an ultrasonic sensor. Themethod can comprise:

AS102: receiving signals of the plurality of obstacle sensors.

Specifically, the self-moving device can be provided controller and aplurality of obstacle sensors, the controller can receive the signals ofthe plurality of obstacle sensors in real time, for example, when theobstacle sensors detect an obstacle within the detection range, thesignal is sent to the controller.

AS104: judging whether the obstacle sensor corresponding to the currentobject throwing direction detects an obstacle according to the receivedsignal of the obstacle sensor.

Specifically, the plurality of obstacle sensors can be numbered, forexample, as shown in FIG. 62, FIG. 62 is a schematic diagram of aself-moving device in an embodiment, the self-moving device is providedwith 7 obstacle sensors, in other embodiments, the self-moving devicecan also be provided with 5, 8, 10 and 12 obstacle sensors, the 7obstacle sensors are respectively located around the self-moving device,to ensure that the obstacles around the self-moving device can bedetected. The controller can judge whether the obstacle sensorcorresponding to the current object throwing direction detects theobstacle according to the received signal of the obstacle sensor.

AS106: controlling the object throwing device to steer when the obstaclesensor corresponding to the current object throwing direction detectsthe obstacle, such that the object throwing direction is the directionof an area where the obstacle is not detected and which is unprocessedby the self-moving device.

When the obstacle sensor corresponding to the current object throwingdirection detects the obstacle, then the object throwing direction ofthe object throwing device is required to be changed, but if the changedobject throwing direction points at the area that has been processed bythe self-moving device, then the work of the self-moving device will becaused to be ineffective, for example, when the self-moving device is asnow throwing machine, if the current snow throwing direction is a firstdirection, a second direction points at the area that has been processedby the self-moving device, when the obstacle exists in the firstdirection, if the object throwing direction of the object throwingdevice is set to be the second direction, then the snow throwing machinewill be caused to throw snow to the swept area, as a result, theprevious sweeping work is ineffective and re-cleaning is required. Inorder to solve the problem according to the present embodiment, when thesnow throwing direction is reset, firstly whether the directioncorresponding to the obstacle sensor not detecting the obstacle pointsat the area that has been processed by the self-moving device is judged,if the direction corresponding to the obstacle sensor not detecting theobstacle does not point at the area that has been processed by theself-moving device, then the object throwing direction is set to be thedirection of the corresponding obstacle sensor not pointing at the areathat has been processed by the self-moving device.

AS108: if the obstacle sensor corresponding to the current objectthrowing direction does not detect the obstacle, then keeping thecurrent object throwing direction unchanged, and continuing the stepAS102 of receiving signals of the plurality of obstacle sensors.

According to the above control method for a self-moving device, byreceiving the signals of the plurality of obstacle sensors on theself-moving device, whether there is the obstacle in the current objectthrowing direction is judged in real time, and if not, the objectthrowing direction is timely set to be the direction of the area wherethe obstacle is not detected and which is unprocessed by the self-movingdevice, thereby realizing intelligent control, and timely controllingthe object throwing direction to prevent the objects from being thrownto other objects or other processed areas to cause danger or repeatedwork.

Referring to FIG. 62 again, an initial object throwing direction of theobject throwing device is set to be the first direction, that is, thedirection where the seventh obstacle sensor points at, at this point,since the self-moving device does not begin to work yet, there is noarea that has been processed by the self-moving device. Therefore, thereis not need to judge whether the direction corresponding to the obstaclesensor not detecting the obstacle points at the area that has beenprocessed by the self-moving device. Therefore, the present embodimentmay comprise receiving the signals of the plurality of obstacle sensorsbefore the self-moving device moves, judging whether the obstacle sensorcorresponding to the current object throwing direction detects anobstacle according to the received signal of the obstacle sensor, and ifthe obstacle sensor corresponding to the initial object throwingdirection detects the obstacle, then setting the object throwingdirection to be the direction corresponding to the obstacle sensor notdetecting the obstacle. Therefore, in the present embodiment, it can beguaranteed that before the self-moving device moves, an object throwingdirection can be preset according to the surrounding environment.

Referring to FIG. 63, FIG. 63 is a processing flowchart of the stepAS106 in the embodiment of FIG. 61. In the present embodiment, the stepof setting the object throwing direction to be the direction of an areawhere the obstacle is not detected and which is unprocessed by theself-moving device can comprise: judging whether the obstacle sensorsexcept for the obstacle sensor corresponding to the current objectthrowing direction detect the obstacle, if the obstacle sensor notdetecting the obstacle exists, judging whether a direction correspondingto the obstacle sensor not detecting the obstacle points at the areaunprocessed by the self-moving device, if the direction corresponding tothe obstacle sensor not detecting the obstacle points at the area thathas been processed by the self-moving device, then continuing to judgetill one of the obstacle sensors not detecting the obstacle is judgedand the direction corresponding to such obstacle sensor points at thearea unprocessed by the self-moving device, and setting thecorresponding direction to be the object throwing direction.

For example, referring to FIG. 63, assuming that the obstacle sensorcorresponding to the current object throwing direction is the seventhobstacle sensor, when the seventh obstacle sensor detects the obstacle,then step AS302 of judging whether the first obstacle sensor detects theobstacle is performed, and if the first obstacle sensor detects noobstacle, then the step AS304 of judging whether the directioncorresponding to the first obstacle sensor points at the areaunprocessed by the self-moving device is continued. If the firstobstacle sensor detects the obstacle, then the step AS306 of judgingwhether the second obstacle sensor detects the obstacle is continued, ifthe second obstacle sensor detects no obstacle, then the step AS308 ofjudging whether the direction corresponding to the second obstaclesensor points at the area unprocessed by the self-moving device iscontinued, otherwise, the step of judging whether the third obstaclesensor detects the obstacle is continued, and so on till the lastobstacle sensor is judged, i.e., the step AS310 of judging whether theNth obstacle sensor detects the obstacle is judged. In the above judgingprocess, when there is one obstacle sensor not detecting the obstacleand the direction corresponding to such obstacle sensor does not pointat the area that has been processed by the self-moving device, thejudging can be stopped, and the corresponding direction is set as theobject throwing direction. For example, in FIG. 63, as shown in the stepAS314 or the step AS316 or the step AS318, if the directioncorresponding to the obstacle sensor not detecting the obstacle pointsat the area unprocessed by the self-moving device, then the objectthrowing direction is set to be the direction corresponding to theobstacle sensor not detecting the obstacle.

The steps in the above method is performed serially, that is, all theobstacle sensors are judged in sequence, and in other embodiments, allthe obstacle sensors can be judged in parallel, which is not repeatedhere.

In one of the embodiments, referring FIG. 64, FIG. 64 is anotherprocessing flowchart of the step AS106 in the embodiment of FIG. 61. Thesteps AS302 to AS318 in the present embodiment are consistent with theabove text and are not repeated here. In the present embodiment, if allobstacle sensors detect the obstacle, or the directions corresponding tothe obstacle sensors not detecting the obstacle are all the directionsof the areas that have been processed by the self-moving device, thenthe step AS320 of controlling the self-moving device to halt for presettime, and then continuing to execute the step of judging whether theobstacle sensor corresponding to the current object throwing directiondetects an obstacle according to the received signal of the obstaclesensor is continued. In this way, when the obstacle exists around theself-moving device or the obstacle exists in the direction correspondingto the area unprocessed by the self-moving device, the self-movingdevice is controlled to be halted for certain time, and the work isperformed after the obstacle around the self-moving device is cleared.

In one embodiment, referring to FIG. 65, 65 is a processing flowchartafter a step of controlling a self-moving device for halting for presettime in the embodiment as shown in FIG. 64. For example, after the stepAS320 of controlling the self-moving device to halt for preset time, thestep AS502 of judging whether the first obstacle sensor detects theobstacle can be continued, if the first obstacle sensor detects theobstacle, then the step AS506 of judging whether the second obstaclesensor detects the obstacle is continued, if the second obstacle sensordetects the obstacle too, then whether the third obstacle sensor detectsthe obstacle is judged, and so on till the last obstacle sensor isjudged, that is, the step of judging whether the Nth obstacle sensordetects the obstacle is judged, wherein, N is a positive integer. Forexample, in the embodiment as shown in FIG. 62, N is 7 and representsthe number of the obstacle sensors on the self-moving device. If thefirst obstacle sensor detects no obstacle, then the step AS504 ofjudging whether the direction corresponding to the first obstacle sensorpoints at the area unprocessed by the self-moving device is continued,if the direction corresponding to the first obstacle sensor points atthe area unprocessed by the self-moving device, then the step of AS514of setting the corresponding direction to be the object throwingdirection is continued. If the second obstacle detects no obstacle, thenthe step AS508 of judging whether the direction corresponding to thesecond obstacle sensor points at the area unprocessed by the self-movingdevice is continued, if the direction corresponding to the secondobstacle sensor points at the area unprocessed by the self-movingdevice, then the step of AS516 of setting the corresponding direction tobe the object throwing direction is continued. Similarly, if the Nthobstacle sensor detects no obstacle, then the step AS512 of judgingwhether the direction corresponding to the Nth obstacle sensor points atthe area unprocessed by the self-moving device is continued, if thedirection corresponding to the Nth obstacle sensor points at the areaunprocessed by the self-moving device, then the step of AS518 of settingthe corresponding direction to be the object throwing direction iscontinued. But if after the self-moving device is controlled to halt forcertain time, all obstacle sensors detect the obstacle, or thedirections corresponding to the obstacle sensors not detecting theobstacle are all the direction of the areas that have been processed bythe self-moving device, then the step AS520 of controlling theself-moving device to withdraw for certain distance, and re-planning amoving path of the self-moving device is executed.

In such case, if after the self-moving device is controlled to halt forcertain time, all obstacle sensors detect the obstacle, or thedirections corresponding to the obstacle sensors not detecting theobstacle are all the direction of the areas that have been processed bythe self-moving device, then the current self-moving device cannot worknormally, and therefore the moving path of the self-moving device isre-planned.

In actual application, the method can comprise the following step: ifthe obstacle sensors except for the obstacle sensor corresponding to thecurrent object throwing direction detect the obstacle, then after theself-moving device is controlled to halt for preset time, whether theobstacle sensor not detecting the obstacle exists is judged according tothe received signal of the obstacle sensor. In the present embodiment,since all obstacle sensors detect the obstacle, i.e., the obstacleexists around the self-moving device, then the self-moving device cannotthrow objects at this point, therefore, the self-moving device iscontrolled to halt for time buckets such as 2 min, 3 min and 4 min, andthen whether the obstacle sensor still judges the obstacle is judged. Ifthe obstacle sensor not detecting the obstacle exists, then whether thedirection corresponding to the obstacle sensor not detecting theobstacle points at the area unprocessed by the self-moving device iscontinuously judged. At this point, if the obstacle sensor not detectingthe obstacle exists, and the direction corresponding to the obstaclesensor not detecting the obstacle points at the area unprocessed by theself-moving device, then the object throwing direction can be set to besuch direction. If the direction corresponding to the obstacle sensornot detecting the obstacle still points at the area that has beenprocessed by the self-moving device, then the after the self-movingdevice is controlled to withdraw for preset distance, the moving path ofthe self-moving device is re-planned. Specifically, if the self-movingdevice is controlled to halt for preset time, either all the obstaclesensor detect the obstacle, or the direction corresponding to theobstacle sensor not detecting the obstacle still points at the area thathas been processed by the self-moving device, then the self-movingdevice cannot work at present. Therefore, the moving path of theself-moving device is re-planned. If the direction corresponding to theobstacle sensor not detecting the obstacle points at the areaunprocessed by the self-moving device, then the object throwingdirection is set to be any direction of the corresponding obstaclesensor pointing at the area unprocessed by the self-moving device.

Besides, in actual application, the method can comprise the followingstep: if the directions corresponding to the obstacle sensors notdetecting the obstacle all point at the directions of the areas thathave been processed by the self-moving device, then after theself-moving device is controlled to halt for preset time, thencontinuing to judge whether the obstacle sensor not detecting theobstacle exists according to the received signal of the obstacle sensor.In the present embodiment, since all obstacle sensors detect theobstacle, i.e., the obstacle exists around the self-moving device, thenthe self-moving device cannot throw objects at this point, therefore,the self-moving device is controlled to halt for time buckets such as 2min, 3 min and 4 min, and then whether the obstacle sensor still judgesthe obstacle is judged. If the obstacle sensors not detecting theobstacle exist, then whether the direction corresponding to the obstaclesensor not detecting the obstacle points at the area unprocessed by theself-moving device is continuously judged; at this point, if theobstacle sensor not detecting the obstacle exists and the directioncorresponding to the obstacle sensor not detecting the obstacle pointsat the area unprocessed by the self-moving device, then the objectthrowing direction is set to be such direction. If the directioncorresponding to the obstacle sensor not detecting the obstacle stillpoints at the area that has been processed by the self-moving device,then the self-moving device is controlled to withdraw for the presetdistance, and the moving path of the self-moving device is re-planned.Specifically, if after the self-moving device is halted for certaintime, either all obstacle sensors detect the obstacle or the directioncorresponding to the obstacle sensor not detecting the obstacle stillpoints at the area that has been processed by the self-moving device,then the current self-moving device cannot normally work, therefore, themoving path of the self-moving device is re-planned. If the directioncorresponding to the obstacle sensor not detecting the obstacle pointsat the area that has been processed by the self-moving device, then theobject throwing direction is set to be any direction of thecorresponding obstacle sensor pointing at the area unprocessed by theself-moving device.

In addition, it should be noted that when the object throwing device issteered, the self-moving device can work or not, for example, when theself-moving device is the snow throwing machine and when the snowthrowing cylinder is steered, the snow throwing machine can continue tomove to clean the snow on the road surface. In addition, when two ormore obstacles detect the obstacle, the system can calculate a properdirection to control the object throwing device to steer.

Referring to FIG. 66, FIG. 66 is a structural schematic diagram of acontrol device for a self-moving device in one embodiment. In theembodiment, the self-moving device is provided with a turnable objectthrowing device and a plurality of obstacle sensors, the system cancomprise a signal receiving module A110, a signal processing module A120and a signal output module A130. An input end of the signal processingmodule A120 is connected to an output end of the signal receiving moduleA110. An input end of the signal output module A130 is connected to anoutput end of the signal processing module A120. The signal receivingmodule A110 is configured to receive signals of the plurality ofobstacle sensors, the signal processing module A120 is configured tojudge whether the obstacle sensor corresponding to the current objectthrowing direction detects an obstacle according to the received signalof the obstacle sensor, the signal output module A130 is configured tocause the object throwing device to steer when the obstacle sensorcorresponding to the current object throwing direction detects theobstacle, such that the object throwing direction is the direction of anarea where the obstacle is not detected and which is unprocessed by theself-moving device. The specific working manners and processing flows ofthe three modules can refer to the above and are not repeated here.

In one embodiment, the signal processing module comprises an obstaclesensor judging unit A121 and an area judging unit A122, an input end ofthe obstacle sensor judging unit A121 is connected to the output end ofthe signal receiving module A110, an input end of the area judging unitA122 is connected to an output end of the obstacle sensor judging unitA121, the obstacle sensor judging unit A121 is configured to judgewhether the obstacle sensors except for the obstacle sensorcorresponding to the current object throwing direction detect theobstacle; and the area judging unit A122 is configured to, if theobstacle sensor not detecting the obstacle exists, judge whether adirection corresponding to the obstacle sensor not detecting theobstacle points at the area unprocessed by the self-moving device.

In one embodiment, the signal output module A130 is configured to, whenall obstacle sensors detect the obstacle, or the directionscorresponding to the obstacle sensors not detecting the obstacle are allthe directions of the areas that have been processed by the self-movingdevice, control the self-moving device to halt for preset time, and thenjudge whether the obstacle sensor corresponding to the current objectthrowing direction detects an obstacle according to the received signalof the obstacle sensor; and after the self-moving device is halted forcertain time, all obstacle sensors detect the obstacle, or thedirections corresponding to the obstacle sensors not detecting theobstacle are all the directions of the areas that have been processed bythe self-moving device, control the self-moving device to withdraw forcertain distance, and re-plan a moving path of the self-moving device.

The snow throwing method and the snow throwing system under a thirddesign thought are introduced in combination with FIGS. 67-68. Thepresent embodiments provide a snow throwing method, which can realizedownwind snow throwing, avoids dead wind snow throwing, or control thedead wind snow throwing effect within a receivable degree, therebyensuring the snow throwing effect and improves the working efficiency.

As shown in FIG. 67, a snow throwing method comprises:

Step BS110: obtaining a wind direction during snow throwing.

After the snow throwing machine is started for operation, the winddirection under the current operation environment needs to be determinedtimely. Specifically, the wind direction is obtained by using anexisting wind speed and wind direction detector. The wind directiondetection is a mature technology per se and is not explained excessivelyhere. By using the detector, the wind power can be detectedsimultaneously.

After being detected, the wind direction is sent to a snow throwingdirection control module in a wireless or wired communication manner asone basis for adjusting the snow throwing direction later.

After the snow throwing machine is started for operation, if the winddirection is basically fixed, the wind power is basically unchanged, orwhen the wind direction is basically fixed, and only the wind power ischanged, the detector can directly detect and obtain the wind direction,which serves as the wind direction during snow throwing, i.e., servingas one basis for adjusting the snow throwing direction later.

When the wind direction is not fixed, and the wind power is unchanged orchanged: the step BS110 specifically comprises: obtaining multiple windpower of multiple wind directions and the wind directions within apreset time period; selecting the wind direction of the maximal windpower; and taking the wind direction with the largest wind power as thewind direction during snow throwing.

The wind direction with the largest wind power is the main winddirection affecting snow throwing, and therefore is also the adjustingbasis for the main direction of snow throwing. By taking it as theadjusting basis, it can be ensured that no dead wind snow throwingexists during snow throwing, and the downwind snow throwing can beeffectively realized.

During snow throwing, the thrown snow has certain initial speed, and theinitial speed has certain role for keeping the snow throwing direction.Therefore, the thrown snow can be obviously affected only when the windpower is larger. While when the wind is only breeze with the unchangedwind direction or breeze with the changed wind direction, the wind stillexists, but does not always affect the snow throwing. In other words,even though the snow is thrown against the wind, the snow removal effectwill not be affected.

Therefore, further, when the wind direction is not fixed, and the windpower is unchanged or changed, the method further comprises the stepjudging whether the maximal wind power exceeds a predeterminedthreshold; and taking the wind direction of the maximal wind directionas the wind direction during snow throwing if yes, and selecting anywind direction as the wind direction during snow throwing or no winddirection if no.

The predetermined threshold here is the proper wind power thresholddetermined according to the initial speed of snow throwing. If the windpower exceeds the threshold, then the wind direction corresponding tothe wind power is taken as the wind direction during snow throwing, thatis, taken as the subsequent adjusting basis. If the wind power of themultiple wind directions are all smaller, then any wind direction can beselected as the wind direction during snow throwing. When any winddirection is not selected, the snow throwing direction is keptunchanged.

Step BS120 obtaining a current snow throwing direction.

Specifically, the sensor for detecting an angle mounted on the snowthrowing mechanism can be used to obtain the throwing angle of thethrown snow. If the snow throwing mechanism is a snow throwing headrotary mechanism, the sensor for detecting the angle (for example, arotational potentiometer) can be mounted in the rotary mechanism, and iscontrolled by a step-motor to rotate, to adjust the snow throwingdirection.

Step BS130 obtaining an angle difference between the wind direction andthe snow throwing direction.

The angle difference between the wind direction and the snow throwingdirection is calculated by using an angle judging submodule.

Step BS140 adjusting the snow throwing direction to enable the angledifference between the wind direction and the snow throwing direction tobe within a preset range.

Specifically, enabling the angle difference between the wind directionand the snow throwing direction to be within the predetermined rangecomprises adjusting the snow throwing direction to be consistent withthe wind direction. At this point, no angle difference exists betweenthe two, that is, the difference is zero.

The manners for adjusting the snow throwing direction at least comprise:

rotating the snow throwing mechanism to change the snow throwingdirection. For example, the angle when the snow is thrown by rotatingthe snow throwing mechanism.

The snow throwing method according to the present embodiments furthercomprise the following step:

Step BS150, obtaining the wind power after the wind direction ischanged.

In the normal snow throwing process of the snow throwing machine, thesnow throwing is performed according to the determined snow throwingdirection, downwind snow throwing can be realized, the dead wind snowthrowing can be avoided, and even the dead wind snow throwing occurs, itcan be controlled within a controllable degree.

But in normal snow throwing, the wind direction can still be changed.While after the wind direction is changed, the wind power may be changedor not, which can affects the snow throwing or not. Therefore, in thisstep, after being obtained, the wind power can still serve as the basisfor subsequently adjusting the snow throwing direction.

Step BS160, judging whether the wind power exceeds a predeterminedthreshold. Specifically, the predetermined threshold here is the properwind power threshold determined according to the snow throwing initialspeed.

Step BS170, entering the step of adjusting the snow throwing directionto enable the angle difference between the wind direction and the snowthrowing direction to be within a preset range if yes, and keeping thesnow throwing direction unchanged if no.

If the wind power after the wind direction exceeds the predeterminedthreshold, then the snow throwing direction is adjusted, such that theangle difference between the snow throwing direction and the winddirection is within the predetermined range, that is, the step BS130 isexecuted.

While when the wind power after the wind direction is changed is smallerthan the predetermined threshold, the snow throwing direction is notadjusted, and at this point, the snow throwing effect is not affected.Of course, the snow throwing direction can also be adjusted according tothe changed wind direction.

When the wind power after the wind direction is smaller than the presetthreshold, and the snow throwing direction is not adjusted and keptunchanged, in order to avoid the influence of device errors on the snowthrowing effect, the initial speed when the snow is thrown can beincreased.

With reference to FIG. 68, the present embodiments further provide asnow throwing system B100, comprising a:

a wind direction obtaining module B110, configured to obtain a winddirection during snow throwing;

a snow throwing direction detection module B120, configured to obtain acurrent snow throwing direction;

an angle judging module B130, configured to obtain an angle differencebetween the wind direction and the snow throwing direction; and a snowthrowing direction control module B140, configured to adjust the snowthrowing direction to enable the angle difference between the winddirection and the snow throwing direction to be within a preset rang.

According to the above snow throwing system, the wind directionobtaining module B110 obtains the wind direction under the operationenvironment of the snow throwing machine, then the snow throwingdirection detection module B120 detects the current snow throwingdirection, and the angle judging module B130 is configured to calculatethe angle difference between the wind direction and the snow throwingdirection. Then the snow throwing direction control module B140 controlsthe snow throwing direction, such that the angle difference between thesnow throwing direction and the wind direction is within thepredetermined range. In this way, the downwind snow throwing can berealized, or even the dead wind snow throwing occurs, it can becontrolled in a receivable degree.

Further, the manner for the snow throwing direction control module B140to adjust the snow throwing direction is to rotate the snow throwingmechanism to change the snow throwing direction.

Further, the wind direction obtaining module B110 is further configuredto: obtain wind power after the wind direction is changed; and judgewhether the wind power exceeds a predetermined threshold. When the windpower exceeds the predetermined threshold, the snow throwing directioncontrol module B140 adjusts the snow throwing direction, such that theangle difference between the snow throwing direction and the winddirection is in the predetermined range. When the wind power does notexceeds the predetermined threshold, the snow throwing direction controlmodule B140 keeps the snow throwing direction unchanged or adjusts thesnow throwing direction according to the adjusted wind direction.

When the wind power does not exceed the predetermined threshold, and thesnow throwing direction control module B140 keeps the snow throwingdirection unchanged, the throwing direction control module B140 isfurther configured to increase an initial speed when the snow is thrown,thereby ensuring that the snow throwing is not affected by the deadwind.

Further, the wind direction obtaining module B110 is further configuredto: obtain multiple wind power of multiple wind directions and the winddirections within a preset time period; select the wind direction of themaximal wind power; and take the wind direction of the maximal windpower as the wind direction during snow throwing. The wind directionobtaining module B110 is further configured to: judge whether themaximal wind power exceeds a predetermined threshold; and take the winddirection of the maximal wind direction as the wind direction duringsnow throwing if yes, and select any wind direction as the winddirection during snow throwing or no wind direction if no.

The predetermined threshold here is the proper wind threshold determinedaccording to the initial snow throwing speed. If the wind power exceedsthe threshold, then the wind direction corresponding to the wind poweris taken as the wind direction during snow throwing, that is, as thereference for subsequent adjustment. If the wind power of the multiplewind directions are all smaller, then any wind direction can be selectedas the wind direction during snow throwing. Or any wind direction is notselected, and at this point, the snow throwing direction is keptunchanged. In this way, when the wind direction is not fixed, and thewind power is unchanged or changed, the wind direction obtaining moduleB110 can fast determine the wind direction as the adjustment reference.

Respective technical features of the above embodiments can be combinedfreely, in order for concise description, not all possible combinationsof respective technical features of the above embodiments are described.However, the combinations of these respective technical features areconsidered to be within the scope of the description as long as they donot conflict against each other.

The foregoing embodiments merely express several embodiments of thepresent invention, the description is relatively specific and detailed,but cannot be understood as a limitation to the scope of the presentinvention. It should be pointed out that those ordinary skilled in theart can make several transformations and improvements without departingfrom the concept of the present invention, which all belong to theprotective scope of the present invention. Therefore, the protectivescope of the present invention patent should take the appended claims asa criterion.

What is claimed is:
 1. An automatic moving snow removal device,comprising: a moving module driving the automatic moving snow removaldevice to move; a working motor having a rotary speed; a snow throwingmechanism driven by the working motor to collect and throw accumulatedsnow and inclusions on the ground out of the snow throwing mechanism ina plurality of snow throwing directions; a speed of one or moreinclusions departing from the snow throwing mechanism; a control moduleconfigured to control the rotary speed of the working motor to limit thespeed of the one or more inclusions departing from the snow throwingmechanism to be equal to or less than 41 m/s; and a plurality ofobstacle sensors respectively corresponding to the plurality of snowthrowing directions, wherein the plurality of obstacle sensors send oneor more signals when detecting an obstacle in the plurality of snowthrowing directions; a signal receiving module configured to receive theone or more signals from the plurality of obstacle sensors; a signalprocessing module connected to the signal receiving module andconfigured to determine whether there is the obstacle in the pluralityof snow throwing directions according to the one or more signals fromthe plurality of obstacle sensors; a signal output module connected tothe signal processing module and configured to steer the snow throwingmechanism from a first snow throwing direction of the plurality of snowthrowing directions to a second snow throwing direction of the pluralityof snow throwing directions, different from the first snow throwingdirection, when the signal processing module determines there is theobstacle in the first snow throwing direction and not in the second snowthrowing direction, and wherein the second snow throwing direction is anarea unprocessed by the automatic moving snow removal device.
 2. Theautomatic moving snow removal device according to claim 1, wherein thespeed of the one or more inclusions departing from the snow throwingmechanism is equal to or less than 20 m/s.
 3. The automatic moving snowremoval device according to claim 2, wherein the speed of the one ormore inclusions departing from the snow throwing mechanism is 17.8±1m/s.
 4. The automatic moving snow removal device according to claim 2,wherein the speed of the one or more inclusions departing from the snowthrowing mechanism is 16.8±1 m/s.
 5. The automatic moving snow removaldevice according to claim 2, wherein the speed of the one or moreinclusions departing from the snow throwing mechanism is 14.2±1 m/s. 6.The automatic moving snow removal device according to claim 2, whereinthe speed of the one or more inclusions departing from the snow throwingmechanism is 12.5±1 m/s.
 7. The automatic moving snow removal deviceaccording to claim 1, wherein the snow throwing mechanism comprises asnow scraping component rotating around a central axis, the workingmotor drives the snow scraping component to rotate around the centralaxis to collect the accumulated snow and inclusions to the snow throwingmechanism, and a maximal linear speed of the snow scraping component isequal to or less than 41 m/s.
 8. The automatic moving snow removaldevice according to claim 1, wherein the signal processing modulefurther comprises an obstacle sensor judging unit connected to thesignal receiving module, wherein the obstacle sensor judging unit isconfigured to determine whether the second snow throwing direction hasthe obstacle or not, by receiving the one or more signals from theplurality of obstacle sensors, except the obstacle sensor of theplurality of obstacle sensors corresponding to the first snow throwingdirection, and an area judging unit connected to the obstacle sensorjudging unit, wherein the area judging unit is configured to determinewhether the second snow throwing direction is an area processed by theautomatic moving snow removal device or not, when the obstacle sensorjudging unit determines there is no obstacle in the second snow throwingdirection.
 9. The automatic moving snow removal device according toclaim 8, wherein the signal output module is further configured tocontrol the automatic moving snow removal device to stop for a presettime period if the obstacle sensor judging unit determines there are theobstacles in all of the plurality of snow throwing directions, or thearea judging unit determines all areas without the obstacles have beenprocessed by the automatic moving snow removal device; wherein thesignal processing module is further configured to determine whether theobstacle sensor corresponding to a current snow throwing directiondetects the obstacle after the automatic moving snow removal device isstopped for the preset time period; and wherein after the automaticmoving snow removal device is stopped for the preset time period thesignal output module is further configured to move the automatic movingsnow removal device for a preset distance in a reverse direction andre-configure a moving path for the automatic moving snow removal device.10. An automatic moving snow removal device, comprising: a moving moduledriving the automatic moving snow removal device to move; a workingmotor having a rotary speed; a snow throwing mechanism driven by theworking motor to collect and throw accumulated snow and inclusions onthe ground out of the snow throwing mechanism in a plurality of snowthrowing directions; an impulse of one or more inclusions departing fromthe snow throwing mechanism; a control module configured to control therotary speed of the working motor to limit the impulse of the one ormore inclusions departing from the snow throwing mechanism to be equalto or less than 0.041 Kg·m; and one or more obstacle sensorsrespectively corresponding to the plurality of snow throwing directions,and wherein the snow throwing mechanism is positionable to at least onesnow throwing direction of the plurality of snow throwing directionsthat does not include an obstacle detected by the one or more obstaclesensors and is unprocessed by the automatic moving snow removal device.11. The automatic moving snow removal device according to claim 10,wherein the impulse of the one or more inclusions departing from thesnow throwing mechanism to be equal to or less than 0.02 Kg·m/s.
 12. Theautomatic moving snow removal device according to claim 11, wherein theimpulse of the one or more inclusions departing from the snow throwingmechanism is 0.0178±0.001 Kg·m/s.
 13. The automatic moving snow removaldevice according to claim 11, wherein the impulse of the one or moreinclusions departing from the snow throwing mechanism is 0.0168±0.001Kg·m/s.
 14. The automatic moving snow removal device according to claim11, wherein the impulse of the one or more inclusions departing from thesnow throwing mechanism is 0.0142±0.001 Kg·m/s.
 15. The automatic movingsnow removal device according to claim 11, wherein the impulse of theone or more inclusions departing from the snow throwing mechanism is0.0125±0.001 Kg·m/s.
 16. The automatic moving snow removal deviceaccording to claim 10, wherein the snow throwing mechanism comprises asnow scraping component rotating around a central axis, the workingmotor drives the snow scraping component to rotate around the centralaxis to collect the accumulated snow and inclusions to the snow throwingmechanism, and a maximal linear speed of the snow scraping component isequal to or less than 41 m/s.
 17. The automatic moving snow removaldevice according to claim 16, wherein a radius of the snow scrapingcomponent is equal to or less than 0.085 m, and a rotary speed of thesnow scraping component is equal to or less than 2000 r/min.
 18. Theautomatic moving snow removal device according to claim 17, wherein therotary speed of the snow scraping component is 2000-1400 r/min.
 19. Theautomatic moving snow removal device according to claim 16, wherein aradius of the snow scraping component is equal to or less than 0.1 m,and the rotary speed of the snow scraping component is equal to or lessthan 1600 r/min.
 20. The automatic snow moving device according to claim10, wherein the plurality of obstacle sensors send one or more signalswhen detecting the obstacle in the plurality of snow throwingdirections; a signal receiving module configured to receive the one ormore signals from the plurality of obstacle sensors; a signal processingmodule connected to the signal receiving module and configured todetermine whether there is the obstacle in the plurality of snowthrowing directions according to the one or more signals from theplurality of obstacle sensors; and a signal output module connected tothe signal processing module and configured to steer the snow throwingmechanism from a first snow throwing direction of the plurality of snowthrowing directions to a second snow throwing direction of the pluralityof snow throwing directions, different from the first snow throwingdirection, when the signal processing module determines there is theobstacle in the first snow throwing direction and not in the second snowthrowing direction, and wherein the second snow throwing direction is anarea unprocessed by the automatic moving snow removal device.